Abstract: A method of determining placement of pipes within a fire suppression system including: obtaining a layout of nozzles within a room for a fire suppression system; determining a number of pipes, a length of each of the pipes, and a location of each of the pipes to connect each nozzle within the room to a fire suppression agent source in response to the layout of nozzles within the room; determining locations of junctions and elbows to interconnect the pipes; and determining whether the pipe, junctions, and elbows violate a piping constraint.

Abstract: A system and method for enabling access to information included in a safety requirement specification (SRS) for a process plant, the process plant controlled by a process control system including displaying, in a user interface, a cause and effect matrix (CEM) having a set of elements including a set of causes and a set of effects, wherein each of the set of causes represents a condition within the process plant and each of the set of effects represents an effect to be performed within the process plant, and wherein at least some of the set of causes and the set of effects are related as cause-effect pairs whereby the corresponding effect activates in response to an occurrence of the corresponding condition.

Abstract: The present disclosure is intended to provide a technique which enables a direct visual comparison between a computationally-machined surface profile determined based on motor position information and a machined surface profile obtained by actual measurement of a machined surface.

Abstract: A modular energy system that can include a header module removably couplable to one or more energy modules. The one or more energy modules collectively comprise multiple ports to which a surgical instrument is connectable and are each configured to drive a plurality of energy modalities for the surgical instrument. The header module can comprise a display screen configured to display a user interface. The header module is connectable to a footswitch such that the header module can receive a control signal from the footswitch and can send a control signal to the footswitch. The header module can further comprise configured to assign the footswitch to a particular port and, based on user input received via the user interface, reassign the footswitch to another of the ports.

Abstract: A robot control system includes a control device for controlling a robot and a portable operating panel connected to the control device. The portable operating panel and at least one other device include contact points connected in series. The control device includes a reception circuit that can detect the opening of at least one of the contact points. The portable operating panel includes a smart device having a sensor. The contact point included in the portable operating panel is opened and closed in conjunction with a physical movement of a switch member attached to an exterior of the smart device. The sensor can detect a physical quantity that changes in conjunction with the physical movement of the switch member. The portable operating panel transmits, to the control device, a detection signal indicating the physical quantity detected by the sensor or information about the physical quantity.

Abstract: Devices, systems, and methods for providing fire events pattern analysis and cross-building data analytics are described herein. One fire system maintenance system, includes a number of fire system detectors, a fire system control panel, and a gateway device all positioned within the facility, the gateway device having instructions to: collect fire system device health data associated with one or more fire or smoke detector devices and to send this fire system device health data to a remote device, the remote device having instructions to: analyze the collected fire system device health data to determine an event type for each device health event recorded in the collected data, predict future device health events, categorize the device health events based on their determined event type, and prioritize the categorized device health events based on the quantity of events categorized in each event type.

Abstract: An information processing apparatus includes a processor configured to associate information indicating a recognition result of a voice of a user uttered at a time at which the user manually operates a device, biological information other than the voice of the user, and manual operation information indicating a manual operation for the device with each other, and operate the device based on the biological information in a subsequent operation.

Abstract: A computer implemented method of reducing a size of a message intercepted on a communication channel of a vehicle, comprising using one or more processors of a vehicular device. The processor(s) is adapted for receiving one or more of a plurality of messages intercepted by one or more devices adapted to monitor messages transmitted via one or more segments of one or more communication channels of a vehicle, applying one or more trained machine learning models to identify one or more of a plurality of data patterns in one or more of the messages, adjusting one or more of the messages by replacing each of the identified data pattern(s) with a respective predefined lossless representation having a reduced size compared to the identified data pattern and transmitting the adjusted message(s) to a remote system via one or more upload communication channels.

Abstract: A heating, ventilation, and/or air condition (HVAC) controller assembly to reduce undesired air currents includes a front cover, a back plate configured to be removably secured to the front cover, HVAC controller circuitry, a plurality of wire openings, and an air intrusion barrier configured to extend across the wire openings. The HVAC controller circuitry is configured to be electrically coupled to a plurality of wires extending through a hole in the wall to adjust an environmental characteristic of in a controlled space. Each wire opening is configured to receive only a single wire and each wire is configured to extend through a different one of the wire openings. The air intrusion barrier is configured to receive the wires to generally form a plurality of seals against the wires. The wire openings are configured to substantially support the wires to reduce movement of the wires relative to the air intrusion barrier.

Abstract: Activities within a network environment are monitored (e.g., using agents). At least a portion of the monitored activities are used to generate a logical graph model. The generated logical graph model is used to determine an anomaly. The detected anomaly is recorded and can be used to generate an alert.

Abstract: Controller devices may be configured to execute a network discovery service to identify other devices on a network, including other controller devices, user computing devices, and/or human machine interface devices. The controller devices may communicate with the devices on the network. An individual controller device may, upon connection to a human machine interface device, provide to the human machine interface device via a web server, a graphical user interface from which a user may configure the controller device or connect to another controller device on the network.

Abstract: A control system for a technical plant, in particular a manufacturing or process plant, which has at least one engineering station server for creating a configuration for components of the technical plant and at least one operator station server for operator control and process monitoring of the configured components of the technical plant, wherein the engineering station server is configured to provide, starting from an already created configuration, a change made by a configuration planner to the already created configuration with at least one change indicator that indicates the change made to the configuration, and to send the at least one change indicator in addition to the changed configuration to the operator station server in order to send information concerning the changes made to the configuration to an operator using the operator station server.

Abstract: Systems and methods for data analysis and asset management. The systems and methods may include receiving asset data about a plurality of different asset features of an oil well. The systems and methods may include receiving operational data corresponding to a plurality of different key performance indicators (KPIs) of an oil well. The systems and methods may include formulating a treatment strategy for the oil well based on one or more correlations between the asset data and the operational data. The systems and methods may include generating an operator user interface (UI) comprising information tailored in scope for a well operator. The systems and methods may include generating, by a processor, an engineer UI tailored in scope for an engineer user, wherein the engineer UI comprises one or more predictive calculators. The systems and methods may include selectively displaying by a display the operator UI.

Abstract: A technology for associating and ascertaining dependency relations between device variables corresponding to respective devices with dependency relations of device variables for respective parameters of a function in a control program is provided. A graph display device according to one aspect of the present invention generates a first directed graph including a plurality of first nodes that respectively express device variables and edges that express having dependency relations, and a second directed graph including the plurality of first nodes, the edges, and a block that expresses the function, and switches and displays the generated first directed graph and second directed graph on a display device.

Abstract: A system and method for sending an image to a user device based on the context of a user of the device are provided. An image to be sent to a user device may be obtained. The context of the user may be determined. The image may be analyzed to detect and prioritize objects in the image based on the context of the user. The image may be encoded such that objects are rendered on the user device in an order based on the prioritization. The encoded image may be sent to the user device.

Abstract: A method of operating a modular surgical system including a control module, a first surgical module, and a second surgical module is disclosed. The method includes detachably connecting the first surgical module to the control module by stacking the first surgical module with the control module in a stack configuration, detachably connecting the second surgical module to the first surgical module by stacking the second surgical module with the control module and the first surgical module in the stack configuration, powering up the modular surgical system, and monitoring distribution of power from a power supply of the control module to the first surgical module and the second surgical module.

Abstract: A nuclear-power-plant computer-based procedure display device is disposed in a main control room of a nuclear power plant, and includes a operating procedure storage unit that stores a computer-based procedure in which plant operation procedures of the nuclear power plant are divided into procedure steps and listed, a operating procedure display unit that displays the computer-based procedure, and a operating procedure display control unit that controls display of the computer-based procedure. In a case where the procedure step displayed on the operating procedure display unit is selected by an operator, the operating procedure display control unit displays an indication that the procedure step is selected, on the operating procedure display unit.

Abstract: A magnetic resonance apparatus with a safety structure for monitoring a safety-related function is provided. The safety structure includes a control path that is configured to control the safety-related function, and a first protect path and a second protect path. The first protect path and the second protect path are configured to acquire a safety-related parameter of the safety-related function. The first protect path is configured to identify a hazardous situation, independently of the control path and the second protect path, based on the safety-related parameter that the first protect path acquires. The second protect path is configured to identify a hazardous situation, independently of the control path and the first protect path, based on the safety-related parameter that the second protect path acquires. The first protect path and the second protect path are each configured to transfer the magnetic resonance apparatus into a safe state in a hazardous situation.

Abstract: A GFCI includes a current sensor system providing a current sensor signal indicating a leakage current of the AC power system. At least one signal conditioning channel conditions the current sensor signal to provide a conditioned current sensor signal. An integrated circuit-based controller is configured to receive the conditioned current sensor signal. The integrated circuit-based controller is configured to execute instructions stored in at least one nontransitory memory medium to determine at least one frequency value and at least one magnitude value of the conditioned current sensor signal, evaluate a trip condition in response to the at least one frequency value and the at least one magnitude value, and provide a fault trip signal in response to evaluation of the trip condition. A circuit breaker mechanism is configured to open a circuit of the AC power system in response to the fault trip signal.

Abstract: Many software applications include collaborative tools. However, such collaboration tools are more complex in graphics applications, than within word processing for example, as the application includes a diverse portfolio of drawing functions to create/edit an object where editing selecting the drawing function and/or amending a parameter may require navigating multiple levels of menus and displays. A reviewer, collaborator etc. may be unfamiliar with the graphics application to make any amendments whilst the user receiving collaborator comments may be unfamiliar with how to implement suggested amendments. Accordingly, it would be beneficial to provide collaborators with a tool supporting natural language input that parses the collaborators natural language, identifies an associated drawing function, and provides the drawing function which may parameters to edit.

Abstract: A device for directing respired air includes a frame having a top portion, a bottom portion opposite the top portion, and at least one shoulder disposed between the top portion and the bottom portion to receive a portion of a headset. The device further includes an attachment mechanism coupled to the frame for releasably securing the frame to the headset. In addition, the device also includes a wall surface downwardly depending from the bottom portion of the frame to form a curved baffle. The curved baffle directs air corresponding to respiration toward the bottom portion of the frame, and thus toward an input interface of the headset when the frame is releasably secured to the headset.

Abstract: A cooperative control unit is configured to cause a muffled sound control signal processing unit to start feedforward signal processing, and set, when a secondary path filter has converged, a narrow band noise control signal processing unit to the converged secondary path filter and cause the narrow band noise control signal processing unit to start feedback signal processing.

Abstract: An operation assistance method for presenting a recommended operational action in response to an alert issued in a facility includes: detecting issuance of the alert; extracting, from an alert history storage unit, an issuance history of a same type of alert as the alert of which the issuance or the sign of issuance has been detected; extracting, from an operation history storage unit storing an operation history of the facility, an operational action after issuance of the same type of alert; extracting, from an operational data storage unit storing information indicating an operational state of the facility, information indicating the operational state after the operational action, and verifying an influence of the operational action on the operational state; and presenting the recommended operational action in response to the alert of which the issuance has been detected, based on the extracted operational action and the verified influence.

Abstract: Disclosed is a measure to collect and aggregate performance, sales, call center, custom KPI, and WA data in order to construct a model of correlations and causations between metrics to provide a means to measure associated costs of improving performance metrics for use in an interactive planning model. The interactive planning model allows for allocating budget across performance metrics, leveraging correlations and multiple cost models. The information is provided via a dashboard of IVA performance metrics and allows for comparison of real time IVA performance metrics to target metrics set by the IVA owner and incorporating KPIs provided by the WA owners.

Abstract: A method for reducing and/or managing energy-related stress in an electrical system includes processing electrical measurement data from or derived from energy-related signals captured by at least one intelligent electronic device (IED) in the electrical system to identify and track at least one energy-related transient in the electrical system. An impact of the at least one energy-related transient on equipment in the electrical system is quantified, and one or more transient-related alarms are generated in response to the impact of the at least one energy-related transient being near, within or above a predetermined range of the stress tolerance of the equipment. The transient-related alarms are prioritized based in part on at least one of the stress tolerance of the equipment, the stress associated with one or more transient events, and accumulated energy-related stress on the equipment.

Abstract: Sensors may be located remotely from a rig of a well. The sensors may operate independently of the rig, and generate remote sensor information that characterizes operating characteristics of the well independent of the rig. The operation of the well may be analyzed based on the remote sensor information.

Abstract: According to an embodiment, a control device includes multiple operation buttons, an acceptance part, and a displayer. The multiple operation buttons can control an operation of a movable part of electric furniture. In a first state in which the acceptance part receives a first input, the displayer displays a first display between the multiple operation buttons. A bed system is provided in which the ease of use can be improved. A control device and electric furniture are provided in which the operationability can be improved.

Abstract: The present disclosure refers to a method for operating a user terminal (7) of an agricultural machine, comprising providing a user terminal (7) in a control system (3) of an agricultural machine, the user terminal (7) connected to a power supply and configured to transmit, through a control bus (6), control signals to functional elements (10a; 10b) of the agricultural machine; enabling operation of the user terminal (7), after a period of time the user terminal was turned-off before, comprising enabling a user control mode of operation of the user terminal (7); running software applications in the user terminal (7); enabling a display device of the user terminal (7); and enabling the control bus (6), thereby, operating the control bus (6) in a bus control mode allowing for transmission of the control signals through the control bus (6); controlling operation of one of the functional elements (10a; 10b) of the agricultural machine in the user control mode of operation; in response to a user input, generating

Abstract: Embodiments of the invention provide a system of controlling a dental laser system. The system can include a dental laser and a control system for controlling certain functions of the dental laser. A graphical user interface can be used to provide input to the control system. The graphical user interface can include a first display and an second display with selectable segments, and a menu navigation portion located adjacent the second display. Treatment categories, procedures or laser control options can be selected using the interface, and the interface can be updated based on data from the station.

Abstract: In one embodiment, a condition monitoring circuit can include a circuit controller and a node. The node can include a gate controller, a node controller and one or more gates. The node can be configured to detachably couple to a bus of a monitoring system associated with an industrial machine. The circuit controller can be configured to identify an operating parameter associated with the industrial machine. The gate controller can be configured to transfer, via the one or more gates, one or more data packets including data characterizing the operating parameter from the bus in the monitoring system. The one or more gates can be configured to prevent transfer of an outgoing data packet to the bus via the node.

Abstract: The present development is a method and device to monitor the salt level in a patient's blood without the need of laboratory facilities or intervention by medical personnel. The basic device is designed to measure the concentration of analytes, specifically sodium ion and potassium ion, in the patient's blood and to communicate the analyte level to the patient essentially instantaneously through a mobile monitor or display screen. In a variation, the device combines the analyte-concentration measuring function with a means for measuring the concentration of glucose in blood, and the blood analyte level and glucose level are displayed to the patient essentially instantaneously. Both the salt level device and the salt level+glucose level device may be further adapted to allow for the salt and glucose level data to be stored in a data storage base so the patient has an historical record of the concentration levels.

Abstract: A system may include a processor and a memory. The memory may include computer-executable code that, when executed by the processor, causes the processor to retrieve a workflow dataset from a database based on a query input associated with an industrial automation device. The workflow dataset may include an instruction associated with one or more operations for the industrial automation device and a virtual object associated with the one or more instructions and the industrial automation device. The memory may include computer-executable code that, when executed by the processor, causes the processor to transmit a first portion of the workflow dataset to a computing device corresponding to a first instruction. The memory may include computer-executable code that, when executed by the processor, causes the processor to transmit a second portion of the workflow dataset to the computing device in response to determining that the first instruction is completed.

Abstract: A system for monitoring the communication with a connected Internet of Things (IoT) device is provided. The system includes a first computing device including a least one processor in communication with at least one memory device. The at least one memory device stores a plurality of instructions, which when executed by the at least one processor cause the at least one processor to execute an IoT device communication application. The IoT device communication application monitors the IoT device. The instructions also cause the at least one processor to store IoT device data including a current location of the IoT device, determine an optimal communication path between the IoT device communication application and the IoT device based on the IoT device data, and transfer execution of the IoT device communication application to a second computing device based on the optimal communication path.

Abstract: An embodiment of the present invention is directed to monitoring the health of critical business flows in real time, helping faster detection and diagnosis of incidents improving stability. An embodiment of the present invention is directed to generating and providing interactive dashboards with historical trend analysis of identified parameters. An embodiment of the present invention is directed to monitoring the health of critical business flows in real time and enabling faster detection and diagnosis of incidents thereby improving stability and consistency.

Abstract: A method of controlling a work machine having at least one wheel includes providing a controller, an operator control, and a steering system including a steering wheel position sensor, a road wheel angle sensor, a speed sensor, and a feedback device. The method includes detecting a change in steering wheel position via the steering wheel position device and a wheel speed of the at least one wheel via the speed sensor. A predicted lateral acceleration is calculated by the controller as a function of wheel speed and a feedback torque is determined by the controller as a function of the predicted lateral acceleration. The feedback torque is determined from a plurality of feedback torque curves stored by the controller, where each of the plurality of feedback torque curves corresponds to a sensitivity level selectable from the operator control. The feedback torque is commanded to the feedback device.

Abstract: In an embodiment, a method of automatically generating an inspection program includes receiving input data related to an object to be inspected. The input data includes geometric dimensioning and tolerancing data for the object. The method also includes, for each of a plurality of surfaces of the object, generating at least one inspection direction and a plurality of inspection points based, at least in part, on the geometric dimensioning and tolerancing data. The method also includes generating transitional motions for an inspection machine to inspect the plurality of surfaces according to the inspection directions and the inspection points. The method also includes storing, at a destination, machine-readable code for inspecting the object according to the at least one inspection direction of each of the plurality of surfaces, the inspection points of each of the plurality of surfaces, and the transitional motions.

Abstract: Systems and methods for translation of a digital document to an equivalent interactive User Interface (UI), receive the digital document containing content; detect a selection and placement of a plurality of form fields, based at least in part on the content; construct a UI template and corresponding object graph, based at least in part on the selection and placement of each of the plurality of form fields; wherein the UI template represents the content of the digital document according to a predefined document schema; and wherein the object graph is defined by one or more dependencies and one or more validations associated with the selection and placement of each of the plurality of form fields; parse the UI template; and render the UI template as an interactive UI for distribution to an end user based at least in part on a predefined rendering library.

Abstract: A device, system and process for controlling document access using hierarchical paths is provided. A query, received from a requesting device, comprises: a search string for searching a document database; and an identifier associated with a user. A security permissions database is accessed using the identifier to receive permissible hierarchical document access paths indicating document access permissions associated with the identifier. A modified query includes the permissible hierarchical document access paths. The modified query used to access an index of the document database, the index comprising: a searchable content portion, and corresponding hierarchical document access paths, of a document. Document identifiers are received that identify only the documents having: respective searchable content portions that include the search string of the modified query; and at least one respective corresponding hierarchical document access path encompassed by the permissible hierarchical document access paths.

Abstract: A computer assisted facility monitoring method provides users with predefined operating procedures that are recommended for addressing one or more alarms acknowledged by the user. The predefined operating procedures are created and stored prior to the occurrence of the alarms. In some examples, after acknowledging an alarm occurrence, the user may be provided with an option for bypassing or disregarding the alarm, as some such acknowledgements may have been for false alarms. In some examples, the predefined operating procedure may specify multiple action steps for addressing an alarm. In such examples, the user can close out or settle an alarm incident even without completing all of the action steps, provided the user enters a valid reason for doing so. In some examples, a user can batch-select a group of alarms, wherein perhaps only some of the acknowledged alarms in the group have corresponding predefined operating procedures.

Abstract: A system for generating first data including content data includes an interface for outputting the content data, a conversion unit to convert an intensity change indicative of a detected chemical substance contained in data from a sensor into the content data. The sensor includes a mass spectrometric type sensor capable of controlling sensitivity, resolution or selectivity, and a hardware unit that is configured to carry out an analysis of the data with initial setting conditions designed for scanning in a first range using a test sample prepared in advance, change the setting conditions for the sensor for use with the conversion unit, based on the analysis carried out automatically and periodically, the setting conditions including at least one of a voltage for ionizing and a voltage for scanning a spectrum region for detecting a chemical substance requested by an application.

Abstract: Methods and systems for monitoring a premises are described. A computing device may receive data from a premises management system. The computing device determines one or more actions to perform by analyzing the data. The computing device may determine to output, via a user interface, an indication associated with the data. A user may request video associated with the data.

Abstract: A method includes: (a) transmitting, by the control device, control data containing one of the plurality of second parameters to the relay device; (b) determining, by at least one of the control device or the relay device, whether the one of the plurality of second parameters matches one of the plurality of first parameters; and (c) transmitting, by the relay device, the control data received from the control device in (a), using one of the plurality of interfaces of the relay device for which the one of the plurality of second parameters is set if it is determined in the determining that the one of the plurality of first parameters matches the one of the plurality of second parameters.

Abstract: An apparatus of neural network model decompression includes processing circuitry. The processing circuitry can be configured to receive, from a bitstream of a compressed neural network representation, one or more first syntax elements associated with a 3-dimensional coding unit (CU3D) partitioned from a 3-dimensional coding tree unit (CTU3D). The first CTU3D can be partitioned from a tensor in a neural network. The one or more first syntax elements can indicate that the CU3D is partitioned based on a 3D pyramid structure that includes multiple depths. Each depth corresponds to one or more nodes. Each node has a node value. Second syntax elements corresponding to the node values of the nodes in the 3D pyramid structure can be received from the bitstream in a breadth-first scan order for scanning the nodes in the 3D pyramid structure. Model parameters of the tensor can be reconstructed based on the received second syntax elements.

Abstract: A remote-control arrangement for remotely controlled objects, such as in particular lifting systems and/or working devices, has a handheld transmitter which has a housing on which multiple adjustable-position operating elements for the input of control commands are held, and in which remote control electronics are accommodated, by means of which control commands input via the operating elements can be converted into signals, which can be emitted to control the objects, and a display held on the housing for displaying control-relevant information. The display is formed by a computer display of a portable computer produced separately from the transmitter, and a standard interface, via which the portable computer can be detachably connected to the remote-control electronics of the transmitter, is provided on the housing.

Abstract: Tools and techniques are described to create a controller wiring board. A user, using a user interface associated with a controller, can determine which devices will be attached to a controller. The features of the devices may be already known by the controller. The controller can change wiring terminal types depending on the requirements of the devices wired to the controllers. In some embodiments, a device is wired to a module associated with the controller. The controller can signal to the module to modify its wiring terminal to match the needs of the device to be wired to that location.

Abstract: The present disclosure relates to efficient programming and configuring of electronic payment process. An example method includes receiving programming language-based descriptions each describing a distinct functional operation usable to implement the electronic payment process, compiling each programming language-based description into a distinct computer-executable code segment that corresponds to a state of a finite state machine. The method also includes determining transition relationships between states of the finite state machine based on the logic flow of steps of the electronic payment process, generating a state transition table for storing in a cache of a computer-based electronic payment system implementing the finite state machine, and configuring the finite state machine by retrieving the state transition table from the cache at runtime.

Abstract: A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

Abstract: Systems and methods for a security network integrating security system and network devices are disclosed. A system may comprise a gateway and first and second security panels, each located at a premises. The first and second security panels may be connected, via respective first and second wireless communication protocols, to respective first and second security system components. The first and second security panels may receive respective first and second security data from the respective first and second security system components. The gateway may be configured to receive, via the first and second wireless communication protocols, the respective first and second security data. The gateway may be configured to transmit at least one of the first security data and the second security data to a security server located external to the premises.

Abstract: A method of monitoring a robot including a plurality of actuators and configured to perform a predetermined process operation, the method including: a preliminary operation step of causing the robot to perform the predetermined process operation one or more times and detecting, in each of a plurality of process phases, assigned monitoring parameters for the actuators operating in the process phase; a ranking step of deriving a load level based on a predetermined load evaluation procedure for each of the monitoring parameters detected in the preliminary operation step and ranking all of the detected monitoring parameters in decreasing order of the load level; and a normal operation step of monitoring primarily a monitoring parameter highly ranked in the ranking step, wherein the monitoring is performed for the actuator that operates in the process phase in which the highly ranked monitoring parameter was detected.

Abstract: The present disclosure provides a gripper of a robot and a robot including the same. The gripper may include a case, a plurality of fingers rotatably connected to the case, and a plurality of connecting rods. A first end of each of the connecting rods may be connected to a respective one of the fingers. The gripper may also include a driving assembly connected to a second end of each of the connecting rods, and the driving assembly may be configured to drive the second end of each of the connecting rods to move along a moving direction so as to drive the plurality of finger to rotate. The gripper may further include a force detecting assembly connected to the case and the driving assembly, which may be configured to limit a position of the driving assembly along the moving direction and to detect a force from the driving assembly.