Abstract: A light assembly includes a mounting bracket, a light coupled to the mounting bracket, a guide sensor coupled to the mounting bracket, a movement mechanism coupled to the mounting bracket, and a controller operably coupled to the light assembly. The controller is configured to receive data from the guide sensor and command actuation of the movement mechanism in response to the data received from the guide sensor.

Abstract: A method for image capture. The method includes generating, by disposing a light sensing device (112) at one or more locations in a scene (140), a direction of a visible light source (118) from each of the one or more locations in the scene (140), generating, based at least on the direction of the visible light source (118) and a pre-determined image capture criterion, a physical configuration of the image capture, wherein the physical configuration comprises at least one selected from a group consisting of a target camera location (145b) and a target object location (144b) in the scene (140), and transmitting a command to a camera device (110) to capture an image of an object in the scene (140) based on the physical con-figuration of the image capture.

Abstract: Systems and methods for producing a lighting design for an event at a venue. One system includes a lighting fixture configured to project a light beam, an input device configured to receive a user input, and a controller including an electronic processor and a memory. The controller is configured to determine a path of the light beam, receive a first user input indicating a target of interest, and receive a second user input assigning a characteristic to the target of interest. The controller is configured to detect a collision between the path of the light beam and the target of interest, determine, in response to the collision, whether to project light onto the target of interest based on the characteristic, and control the lighting fixture to project the light beam on the target of interest.

Abstract: A system and method for detecting deviations in building structures over time is disclosed. The system and method use range images of buildings captured using range imaging cameras (for example, time-of-flight cameras) to construct 3D models with sufficient resolution to detect deviations in structures that may not be obvious from looking at only photographic images. The system can also use augmented reality to project parts of a 3D model over photographic images of a structure to facilitate easy inspection of the structure.

Abstract: A civil engineering machine has a machine control unit configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system independent of the position and orientation of the civil engineering machine. A geometrical shape to be produced on the ground is preset in either a machine control unit or a field rover control unit. The field rover is used to determine a position of at least one identifiable point of the preset geometrical shape in the independent reference system. Curve data defining a desired curve in the independent reference system, corresponding to the preset shape, is determined at least partially on the basis of the position of the at least one identifiable point of the preset geometrical shape in the independent reference system.

Abstract: Aspects described herein provide a computer-implemented method and system for generating topographic map data at different scales. More specifically, the topographic map data is reduced from large scale to small scale, wherein the scale of the vector features is reduced according to their geometry, feature type and attributes. In order to quickly and easily output digital maps at different scales so that a user may quickly zoom in and out of a map, different zoom levels are produced for different scales, each zoom level containing a variable amount of detail according to its scale, with larger scale zoom levels generally containing more detail than small scale zoom levels. Each zoom level is made up of one or more vector tiles representative of a geographic area, wherein the vector tiles may contain one or more vector features that are representative of objects within that geographic area, and other information related to that geographical area.

Abstract: The line-of-sight direction of an operator is estimated on the basis of the posture of a front work device detected by a posture sensor, and plural display regions are set on a screen of a transparent display on the basis of the estimated line-of-sight direction of the operator. Then, the display position of a display image is calculated in such a manner that the display position is located in the display region corresponding to the kind of the display image in the set plural display regions.

Abstract: An electronic component mounter where information indicating completion of component mounting is memorized each time a component is mounted on circuit board by suction nozzle. Then, in a case in which mounting work is interrupted by a stoppage of the electronic component mounter and then restarted, the mounting position of the electronic component is imaged by mark camera according to information memorized immediately before the mounting work was interrupted. Also, with the electronic component mounter, in a case in which mounting work is interrupted by a stoppage of the mounter and then restarted, the mark camera is moved along a path over which the suction nozzle moved until the position of the suction nozzle when mounting work was interrupted. Here, imaging of the circuit board is performed by the mark camera.

Abstract: A laser irradiation apparatus includes: a laser module configured to emit a laser beam; a first optical system configured to scan the laser beam emitted from the laser module along a first direction; an optical element configured to refract the laser beam emitted from the first optical system; and a substrate supporter on which a base substrate to which the laser beam refracted through the optical element reaches is arranged.

Abstract: A method for producing an aircraft includes determining structural dimensional requirements for mating parts and for assembly tolerances between the mating parts. The method develops a datum specification for the mating parts and develops an index specification for mating the mating parts. The method performs a variation analysis based on the datum specification and the index specification to determine assembly analysis results for the mating parts. The method compares the assembly analysis results for the mating parts with the corresponding assembly tolerances defined in the structural dimensional requirements for the mating parts to verify that the datum specification and the index specification meet the assembly tolerances between the mating parts.

Abstract: An optical receiver including an optical resonator and a steering mechanism coupled to the at least one optical resonator is disclosed. The optical resonator is configured to receive a phase modulated input optical signal and to produce an intensity modulated output optical signal. An intensity modulation of the output optical signal is representative of the phase modulation of the input optical signal. The optical receiver further comprises an optical-electrical converter that detects the intensity modulated output optical signal and converts the intensity modulated output optical signal to an electrical signal, and signal processor that receives the electrical signal, performs symmetric phase change measurements based on the electrical signal, and provides a control signal to actuate the steering mechanism to steer the optical resonator to maintain normal incidence of the phase modulated input optical signal on a surface of at least one optical resonator.

Abstract: A component mounting device includes a head unit including a mounting head configured to mount a component on a substrate, a component feeder configured to feed the component to the mounting head, and an imager provided on the head unit and configured to be able to image a component feeding location of the component feeder from a plurality of directions. The component mounting device further includes a controller configured to acquire a horizontal position and a vertical height position of the component at the component feeding location based on images of the component feeding location captured from the plurality of directions by the imager.

Abstract: Provided are robots for managing inventory of arbitrary size, shape, weighted, or other distinct featured items. The robots dynamically and adaptively manage inventory for items stacked atop one another, items stacked behind one another, items that are horizontally arranged, items that are dispensed from a gravity flow dispenser, items that are dispensed from a back-to-front push dispenser, and items that are loosely contained within a bin. The robots have a sensory array from which dimensions of a particular arrangement and dimensions of a particular item in the particular arrangement can be calculated. The calculated dimensions can include length, width, or height of a particular arrangement and a particular item or force imposed by the particular arrangement and mass of the particular item. Based on these dimensions, the robots can dynamically track different item inventories without counting each individual item.

Abstract: Embodiments described herein relate to a dynamically controlled lens used in lithography tools. Multiple regions of the dynamic lens can be used to transmit a radiation beam for lithography process. By allowing multiple regions to transmit the radiation beam, the dynamically controlled lens can have an extended life cycle compared to conventional fixed lens. The dynamically controlled lens can be replaced or exchanged at a lower frequency, thus, improving efficiency of the lithography tools and reducing production cost.

Abstract: A robot apparatus includes: a robotic arm provided with a robotic hand capable of changing its position and its orientation by using joints; a visual sensor which measures a position or an orientation of a gripped object gripped with the robotic hand at a measurement teaching point; and a control device. The control device controls the position or the orientation of the gripped object when the gripped object is attached to an attachment target object at a corrected teaching point corrected based on a measurement result by the visual sensor. In this case, the control device determines a measurement teaching point, where the measurement with the visual sensor takes place, such that a driving direction of each of the joints from the measurement teaching point to the corrected teaching point is set to a definite driving direction.

Abstract: A detection apparatus includes: plural light emitting sections that are disposed in a row and that emit parallel light to a passage region, over which an object passes, in a time-staggered manner; one or more light receiving sections that receive the parallel light reflected by or having transmitted through the object, a number of the light receiving sections being less than a number of the light emitting sections; and a detection section that detects at least one of edges of the object and edges of a portion of the object with a different reflectivity or transmittance in accordance with an intensity distribution of the parallel light received by the light receiving sections.

Abstract: A navigation system generally determines a location of a portion of a first medical instrument relative to a patient. The navigation system generally includes a multi-configuration tracking array that extends from the first medical instrument. A plurality of tracking devices can be positioned on the multi-configuration tracking array. At least one of the tracking devices changes to define at least a first condition and a second condition. A tracking system detects the tracking devices and relates a change between the first condition and the second condition with a change between at least a first instrument configuration and a second instrument configuration.

Abstract: Disclosed is a method and system comprising: an alignment pin to be positioned adjacent to the boss hole (BH) of an actuator arm (AA); an actuator coupled to the alignment pin to move the alignment pin; an imaging device; and a computing device that performs operations including: commanding the imaging device to produce an image of the position of the alignment pin relative to the BH of the AA; commanding the HGA to be positioned in the AA such that the boss of the HGA is adjacent to the BH of the AA; and, based on the image, commanding the actuator to move the alignment pin such that the alignment pin is concentric relative to the BH and to move the alignment pin through an opening of the boss of the HGA such that the boss of the HGA is concentric and aligned with the BH of the AA.

Abstract: A civil engineering machine has a machine control unit configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system independent of the position and orientation of the civil engineering machine. A geometrical shape to be produced on the ground is preset in either a machine control unit or a field rover control unit. The field rover is used to determine a position of at least one identifiable point of the preset geometrical shape in the independent reference system. Curve data defining a desired curve in the independent reference system, corresponding to the preset shape, is determined at least partially on the basis of the position of the at least one identifiable point of the preset geometrical shape in the independent reference system.

Abstract: A machine vision system program editing environment includes near real time context generation. Rather than requiring execution of all preceding instructions of a part program in order to generate a realistic context for subsequent edits, surrogate data operations using previously saved data replace execution of certain sets of instructions. The surrogate data may be saved during the actual execution of operations that are recorded in a part program. An edit mode of execution substitutes that data as a surrogate for executing the operations that would otherwise generate that data. Significant time savings may be achieved for context generation, such that editing occurs within an operating context which may be repeatedly refreshed for accuracy in near real time. This supports convenient program modification by relatively unskilled users, using the native user interface of the machine vision system, rather than difficult to use text-based or graphical object-based editing environments.

Abstract: A system includes host and learning machines. Each machine has a processor in electrical communication with at least one sensor. Instructions for predicting a binary quality status of an item of interest during a repeatable process are recorded in memory. The binary quality status includes passing and failing binary classes. The learning machine receives signals from the at least one sensor and identifies candidate features. Features are extracted from the candidate features, each more predictive of the binary quality status. The extracted features are mapped to a dimensional space having a number of dimensions proportional to the number of extracted features. The dimensional space includes most of the passing class and excludes at least 90 percent of the failing class. Received signals are compared to the boundaries of the recorded dimensional space to predict, in real time, the binary quality status of a subsequent item of interest.

Abstract: An alignment system for permanently marking a workpiece with a marking device includes a camera, a display operatively connected to the camera and configured to generate an image as a function of camera input, a template having a marking area designation located in relation to the display such that the image is displayed against the marking area designation, and an adjustment table configured to allow controllable repositioning of the workpiece relative to the marking device.

Abstract: Sensor fusion algorithm techniques are described. In one or more embodiments, behaviors of a host device and accessory devices are controlled based upon an orientation of the host device and accessory devices, relative to one another. A combined spatial position and/or orientation for the host device may be obtained based on raw measurements that are obtained from at least two different types of sensors. In addition, a spatial position and/or orientation for an accessory device is ascertained using one or more sensors of the accessory device. An orientation (or position) of the accessory device relative to the host computing device may then be computed based on the combined spatial position/orientation for the host computing device and the ascertained spatial position/orientation for the accessory device. The relative orientation that is computed may then be used in various ways to control behaviors of the host computing device and/or accessory device.

Abstract: A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.

Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Abstract: A system includes host and learning machines in electrical communication with sensors positioned with respect to an item of interest, e.g., a weld, and memory. The host executes instructions from memory to predict a binary quality status of the item. The learning machine receives signals from the sensor(s), identifies candidate features, and extracts features from the candidates that are more predictive of the binary quality status relative to other candidate features. The learning machine maps the extracted features to a dimensional space that includes most of the items from a passing binary class and excludes all or most of the items from a failing binary class. The host also compares the received signals for a subsequent item of interest to the dimensional space to thereby predict, in real time, the binary quality status of the subsequent item of interest.

Abstract: A terminal device of an apparatus to automatically introduce a target celestial object includes an input operation section executing a command operation on the apparatus. An image display section indicates a star map image in accordance with a display scale factor. The input operation section includes a rotation command means that executes a rotational driving of the astronomical telescope in a telescope control mode. A scale factor input means executes an input specification of the display scale factor for the displayed star map image, which corresponds to a position on a celestial sphere toward which the astronomical telescope is headed, while a speed of rotation of the astronomical telescope controlled by the rotation command means changes in accordance with a decreasing function of the display scale factor.

Abstract: A method for use in a part tracking system including a camera and a motion controller, the method comprising the steps of time synchronizing the motion controller and the camera at a trigger time when it is anticipated that a part is within the field of view of the camera, causing the camera to obtain an image, using the obtained image to determine an actual location of the part at the trigger time, comparing the actual location and the anticipated location of the part to identify a position difference and at the motion controller, using the position difference at the trigger time to adjust at least one operating characteristic of the automated system.

Abstract: An alignment system for coupling a component to a vehicle includes at least one sensor target coupled to the component, and a controller assembly configured to transmit a signal towards the sensor target and receive a reflected signal from the sensor target, wherein the controller assembly is configured to output an orientation dataset for the component relative to the vehicle using the reflected signal. The system also includes a processing device communicatively coupled to the controller assembly, wherein the processing device is programmed to translate the orientation dataset and cause a set of component positioning signals based on the orientation dataset to be displayed at a user interface.

Abstract: Sensor fusion algorithm techniques are described. In one or more embodiments, behaviors of a host device and accessory devices are controlled based upon an orientation of the host device and accessory devices, relative to one another. A combined spatial position and/or orientation for the host device may be obtained based on raw measurements that are obtained from at least two different types of sensors. In addition, a spatial position and/or orientation for an accessory device is ascertained using one or more sensors of the accessory device. An orientation (or position) of the accessory device relative to the host computing device may then be computed based on the combined spatial position/orientation for the host computing device and the ascertained spatial position/orientation for the accessory device. The relative orientation that is computed may then be used in various ways to control behaviors of the host computing device and/or accessory device.

Abstract: Sensor fusion algorithm techniques are described. In one or more embodiments, behaviors of a host device and accessory devices are controlled based upon an orientation of the host device and accessory devices, relative to one another. A combined spatial position and/or orientation for the host device may be obtained based on raw measurements that are obtained from at least two different types of sensors. In addition, a spatial position and/or orientation for an accessory device is ascertained using one or more sensors of the accessory device. An orientation (or position) of the accessory device relative to the host computing device may then be computed based on the combined spatial position/orientation for the host computing device and the ascertained spatial position/orientation for the accessory device. The relative orientation that is computed may then be used in various ways to control behaviors of the host computing device and/or accessory device.

Abstract: An apparatus and a method are presented for finding positional relationships and geometrical changes of at least one rotating part attached to or forming part of a machine when the part is in a rotating mode. In the apparatus and method, geometrical changes of the part caused by its state of production and use, determine any locations on the rotating part which exhibit contaminants, and subsequently remove or compensate effects of such contaminants present on the rotating part.

Abstract: The cutting-edge position detecting method includes the steps of: under a condition in which the cutting edge of the tool is positioned in an image that is taken by a camera, performing first sampling scanning operations for the image in a predetermined scanning direction at predetermined first intervals, and recognizing points on an upper edge line of the cutting edge of the tool and points on a lower edge line thereof, based on brightness changing points upon the first scanning operations; connecting the recognized points on the respective two edge lines, so as to obtain two first-level approximate linear lines by a least-squares method; performing second sampling scanning operations for the respective two first-level approximate linear lines in directions perpendicular thereto at predetermined second intervals, and newly recognizing points on the upper edge line of the cutting edge of the tool and points on the lower edge line thereof, based on brightness changing points upon the second scanning operations

Abstract: A system for performing alignment of two wafers is disclosed. The system comprises an optical coherence tomography system and a wafer alignment system. The wafer alignment system is configured and disposed to control the relative position of a first wafer and a second wafer. The optical coherence tomography system is configured and disposed to compute coordinate data for a plurality of alignment marks on the first wafer and second wafer, and send that coordinate data to the wafer alignment system.

Abstract: A quality regulating apparatus and method is disclosed which operates on a product stream having an incoming product stream quality level so that an outgoing product stream quality level provided by the apparatus follows a target quality level so that it is better than the target quality level providing a maximum yield. The apparatus includes a conveying device, a product stream imager, an inspection engine, a routing engine, and an object diverting station. In operation, the inspection engine and routing engine cooperate in a manner so that objects classified as defective are intentionally passed to the output product stream when their inclusion maintains the quality level of the first output product stream at a level that is better than or equal to the target quality level.

Abstract: This disclosure describes a method for camera/user view navigation about enclosed 3D environment (e.g., the inside of a sports stadium or arena). The navigation system constrains the user view (camera) to a (pre-defined) guide based on the shape and size of the interior area which is the focus of the 3D virtual world. In the case of an arena this would generally be the playing surface. The user can easily control the camera movement on this guide with traditional up/down and left/right controls. These controls could be implemented as buttons within the application, keyboard controls, or mouse controls.

Abstract: A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.

Abstract: An object of the present invention is to provide an inspection apparatus and an inspection method for precisely detecting an amount of misalignment of a component mounted on a panel through an adhesive which contains conductive particles. An inspection apparatus according to an implementation of the present invention detects an amount of misalignment, from a predetermined mounting position, of a component mounted on a surface of a panel through an ACF.

Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Abstract: A sensing escape device of an automatic cleaner includes a control module, a motion module and an inclination limitation sensing module. The control module controls the motion module to drive the movement of the automatic cleaner in mode between a forward mode with head portion as a head and a backward mode with tail portion as a head. The inclination limitation sensing module coupled to the control module includes a critical inclination angle sensing unit outward disposed on a rear bottom of the main body. When the critical inclination angle sensing unit is externally contacted, the inclination limitation sensing module generates a signal and transfers the signal to the control module, to make the control module drive the motion module to switch into the backward mode. The automatic cleaner moves backward immediately when climbing a ramp, to avoid misjudging actions such as a suspension of the motor-driven wheel unit.

Abstract: According to various embodiments, a method is provided for determining aberration data for an optical system. The method comprises collecting a data signal, and generating a pre-transformation algorithm. The data is pre-transformed by multiplying the data with the pre-transformation algorithm. A discrete Fourier transform of the pre-transformed data is performed in an iterative loop. The method further comprises back-transforming the data to generate aberration data.

Abstract: A terminal device of an apparatus to automatically introduce a target celestial object includes an input operation section executing a command operation on the apparatus. An image display section indicates a star map image in accordance with a display scale factor. The input operation section includes a rotation command means that executes a rotational driving of the astronomical telescope in a telescope control mode. A scale factor input means executes an input specification of the display scale factor for the displayed star map image, which corresponds to a position on a celestial sphere toward which the astronomical telescope is headed, while a speed of rotation of the astronomical telescope controlled by the rotation command means changes in accordance with a decreasing function of the display scale factor.

Abstract: One aspect relates to combining an at least one primary general illumination lighting with an at least one LED-based secondary general illumination lighting. The aspect further comprises sensing an at least one sensed electric characteristics used to produce the at least one primary general illumination lighting. The aspect further comprises controlling an optical characteristic of the at least one LED-based secondary general illumination lighting at least partially responsive to the sensing the at least one sensed electric characteristics used to produce the at least one primary general illumination lighting.

Abstract: The present invention defines a unique, flexible system that may be applied to the manufacture and assembly of a plurality of highly configurable and reusable virtual robotic control devices. It is specifically concerned with providing a plurality of self contained virtual control systems that comprise a moving part that is detected by an associated sensor whereby signals may be generated and transmitted to a plurality of other devices to operate a plurality of robotic microscopes directly or, when configured through a robot control program, through an intermediate computer and network. Furthermore, these virtual robotic control systems may be assembled into a number of partial or complete robotic microscopes so that the degree of realism and control over the examination of a slide may be matched more exactly to the needs and requirements of a microscopist.

Abstract: A control device for driving a motor which includes a rotor and a stator is provided. The control device includes a Hall detector and driving circuit. The Hall detector detects magnetic flux variation when the rotor rotates and generates a first detection signal and a second detection signal. The first and second detection signals represent current rotation location when the rotor rotates. The driving circuit generates a driving signal to drive the stator. The driving circuit turns on or off the driving signal according to a control signal and the relationship between the first and second detection signals.

Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Abstract: In a position control device having a disturbance suppression function, loop gain is calibrated without stopping disturbance suppression control. The position control device has, for disturbance suppression control, a feedback controller for changing the loop characteristic, a table for storing a target gain according to a disturbance frequency, and a gain calibration section for calibrating open loop gain. The gain is calibrated using a target gain in the table according to the change of the loop characteristic of the feedback controller. Open loop gain can be calibrated without interrupting the disturbance suppression control, so the open loop gain can be accurately calibrated without being affected by disturbance, and accurate position control is possible.

Abstract: A display and/or operating device for controlling machines includes a projection device for projecting an image onto a projection area, an acquisition device for scanning the same projection area, and a control computer for controlling the projection device and the acquisition device. The present invention is distinguished by the fact that, by the acquisition device and the control computer, an analysis of the same projection surface can be carried out, and that the content of the image to be projected can be controlled by the control computer as a function of the result of the analysis of the same projection area.

Abstract: The method and system for vehicular guidance comprises an imaging device for collecting color image data to facilitate distinguishing crop image data (e.g., crop rows) from background data. A definer defines a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of the imaging device. An intensity evaluator determines scan line intensity data for each of the scan line segments. An alignment detector (e.g., search engine) identifies a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value.

Abstract: A teaching apparatus and a teaching method that facilitates accurately setting a retainer at a target position, and minimizes troublesome steps in the manufacturing process, are to be provided. The teaching apparatus includes a first member held by the retainer of the carrying apparatus, a second member attached to the wafer boat (mounting rack) so as to oppose the first member held by the retainer when the retainer is set close to the target position, an output unit, and an arithmetic unit. The first member includes a distance sensor that generates a sensor signal representing a distance between the distance sensor and a surface of the second member opposing the first member. On the surface of the second member opposing the first member, a reference mark A is provided. The first member includes an imaging device that shoots an image including the reference mark A, and generates image data.