Abstract: When first screen customizing information is changed in order to change a first display screen, a local controller sends first setting information indicating a changed part of the first screen customizing information to a server. When second screen customizing information is changed in order to change a second display screen, a remote controller sends second setting information indicating a changed part of the second screen customizing information to the server. The server sends first renewal information identical to the second setting information to the local controller and sends second renewal information identical to the first setting information to the remote controller; the local controller changes the first display screen in accordance with the first renewal information; and the remote controller changes the second display screen in accordance with the second renewal information.

Abstract: Devices, systems, and methods for providing predictive analytics of fire systems are described herein. One fire system maintenance system, includes fire system detectors, a fire system control panel, and a gateway device positioned within the facility and in communication with at least one of the fire system control panel or fire system detectors, the gateway 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 predict if the data contains any anomalies or deviations from an expected behavior; and a fire system maintenance solution application that identifies a nearest scheduled maintenance visit and associates a service item with the scheduled maintenance visit.

Abstract: Data transmission systems and methods. In one embodiment, a data transmission system includes a plurality of imaging devices, a plurality of control devices, and an information processing device. One of the plurality of control devices operates as a master control device and a remainder of the plurality of control devices operate as client control devices. The information processing device is configured to transmit an acquisition request for one or more images captured by a first imaging device of the plurality of imaging devices to the master control device. The master control device is configured to transfer the acquisition request to one of the client control devices that controls the first imaging device. In response to receiving the acquisition request, the one of the client control devices is configured to transfer a list of images captured by the first imaging device to the information processing device.

Abstract: A system for controlling an operation of a machine for performing a task is disclosed. The system submits a sequence of control inputs to the machine and receives a feedback signal. The system further determines, at each control step, a current control input for controlling the machine based on the feedback signal including a current measurement of a current state of the system by applying a control policy transforming the current measurement into the current control input based on current values of control parameters in a set of control parameters of a feedback controller. Furthermore, the system may iteratively update a state of the feedback controller defined by the control parameters using a prediction model predicting values of the control parameters and a measurement model updating the predicted values to produce the current values of the control parameters that explain the sequence of measurements according to a performance objective.

Abstract: A system and method for centrally assuring building air quality are provided. The method includes collecting, from a set of sensors of a plurality of sensors, at least air quality data, wherein the plurality of sensors are installed in different locations within a building; analyzing the collected air quality data to determine an air-quality level across different locations within the building; determining whether an adjustment to at least one control device is required, wherein the determination is based on the determined air-quality level and at least one energy-consumption parameter; and actuating at least one building control device when an adjustment is required, wherein actuating at least one building control device allows for control of air quality across different locations within the building.

Abstract: An industrial work order analysis system applies statistical and machine learning analytics to both open and closed work orders to identify problems and abnormalities that could impact manufacturing and maintenance operations. The analysis system applies algorithms to learn normal maintenance behaviors or characteristics for different types of maintenance tasks and to flag abnormal maintenance behaviors that deviate significantly from normal maintenance procedures. Based on this analysis, embodiments of the work order analysis system can identify unnecessarily costly maintenance procedures or practices, as well as predict asset failures and offer enterprise-specific recommendations intended to reduce machine downtime and optimize the maintenance process.

Abstract: A computer-implemented method comprises receiving, from a computing device associated with a merchant, product information about a product; classifying, based on the product information, the product into a handling class associated with handling of the product; and storing an indication of classification in association with the product information about the product.

Abstract: Systems and methods of real time notification of activities that occur in a web-based collaboration environment are disclosed. In one aspect, embodiments of the present disclosure include a method, which may be implemented on a system, for selecting a recipient of a notification an activity according to criteria determined based on a workspace in which the activity was performed in the online collaboration platform and/or sending the notification of the activity to the recipient such that the recipient is notified in real time or near real time to when the activity occurred.

Abstract: A method and system are provided to facilitate the commissioning of a distributed system. The method and system obtains a base configuration which defines an expected virtual topology for a distributed system, and identifies via a control device a physical network topology of the distributed system to commission the distributed system. The control device performs network discovery to identify a plurality of connected devices that are communicatively coupled thereto, and to collect device information for each connected device relating to its identity and relative position in the distributed system which has connected devices or associated subnetworks connected in a ring network topology. The collected device information for the plurality of connected devices is compared to the expected virtual topology from the base configuration to determine an identity and physical location of the plurality of connected devices and associated subnetworks in the physical network topology of the distributed system.

Abstract: Computing device(s) are configured for managing the reunification of students with parents during an emergency or a drill for a simulated emergency. The reunification of students with guardians may be managed through the operations of various user interfaces (UIs) presented on the device(s). Different UIs may be configured to support different personnel performing different roles in the reunification process. The UIs may include one or more of a student supervisor UI, a location supervisor UI, a runner UI, a guardian greeter UI, a reunification officer UI, or an incident commander UI. The various UIs enable different personnel to track the location and status of individuals, such as students and guardians, during various stages of a reunification process, enable personnel to dynamically update a centralized database with current information regarding the location and status of individuals, and view real time information regarding the location and status of individuals.

Abstract: The invention relates to a dynamic and/or adaptive signposting system (10), comprising at least one sensor (11a-e) that is designed to sense a physical variable relevant to the route guidance, at least one display device (13, 13a-c) that comprises a dynamic display (21), wherein the dynamic display (21) is designed to retain a displayed image in an unpowered state, a control unit (15) that is designed to ascertain a control signal on the basis of the physical variable relevant to the route guidance, wherein the control unit (15) is furthermore designed to actuate the at least one display device (13, 13a-c) by way of the control signal so as to display an image stored in full or in part beforehand on the dynamic display (21).

Abstract: A wearable may be provided with or configured to provide interactive skin. The interactive skin may be configured for accepting touch input from a user. The interactive skin may include one or more flexible layers and may include or be mounted under a transparent display cover layer such as a layer of clear glass or plastic. Interactive skin may include a touch-sensitive layer that allows a user to provide touch input to the wearable. Display pixels on interactive skin may be used to display visual information to the user. The interactive skin may be configured for detecting a condition of at least one wearable and generating an output function in response to the detected condition.

Abstract: A vehicle driving system is equipped with an automatic driving control unit that outputs a signal for automatically actuating a plurality of pieces of in-vehicle operational equipment that can be operated by a driver, a manual driving control unit that outputs a signal to the pieces of the in-vehicle operational equipment based on an operational input by the driver, and an interface control unit that is connected to the automatic driving control unit, the manual driving control unit and the pieces of the in-vehicle operational equipment, that receives at least one of the signal output from the automatic driving control unit or the signal output from the manual driving control unit, and that outputs the received signal to the pieces of the in-vehicle operational equipment.

Abstract: A building management system includes building equipment operable to affect a physical state or condition of a building, a system manager, and a cloud-based data platform. The system manager is coupled to the building equipment via a system bus and configured to obtain alarm data from the building equipment and generate a timeseries sample including the alarm data. The cloud-based data platform includes a timeseries service configured to receive the timeseries sample from the system manager, extract the alarm data from the timeseries sample, and store the alarm data as a sample of an alarm timeseries.

Abstract: A method of distributedly storing data in a system comprising a plurality of edge nodes communicatively coupled to an end device and a central cloud. The method includes: receiving, by a first edge node, data transmitted by the end device; assigning, by the first edge node, a data tag to received data according to attributes of the received data and duplicating the received data to generate a tagged data copy; and transmitting, by the first edge node, the tagged data copy to at least one second edge node determined by a data distribution policy determined by the central cloud directly or through the central cloud, so that the at least one second edge node store the tagged data copy in a storage.

Abstract: Systems and methods are provided that can include displaying a floor plan on a graphical user interface, receiving a first user input identifying a respective location of each of a plurality of zones of the secured area via the floor plan displayed on the graphical user interface, receiving a second user input identifying a respective evacuation route to an emergency exit from each the plurality of zones via the floor plan displayed on the graphical user interface, identifying a respective distance factor from each of the plurality of zones to the emergency exit via the respective evacuation route, identifying a respective relative distance from each of the plurality of zones to a selected one of the plurality of zones, and multiplying the respective distance factor by the respective relative distance for each of the plurality of zones to identify a respective alarm sequence factor.

Abstract: A smart cord for a corded power tool comprising: a connectivity module connected to the corded power tool and to a power socket through an AC power cord; sensors electrically coupled with the corded power tool; a GPS module coupled with at least a location sensor for determining set of coordinates associated with the corded power tool; a switching device electrically coupled with a controller unit in the connectivity module; a user interface device in communication with the controller unit by a communication module. The controller unit performs: receiving input signals from the sensors; determining based on the received input signals or set of coordinates, whether the received input signal exceeds a threshold parameter and/or the corded power tool is located inside a predetermined boundary area; and generating and transmitting an alert signal to the user interface device.

Abstract: An industrial development hub (IDH) supports industrial development and testing capabilities that are offered as a cloud-based service. The IDH comprises an enhanced storage platform and associated design tools that serve as a repository on which customers can store control project code, device configurations, and other digital aspects of an industrial automation project. The IDH system can facilitate discovery and management of digital content associated with control systems, and can be used for system backup and restore, code conversion, and version management.

Abstract: A patient support apparatus comprises a support structure, a user module, and a controller. The user module comprises a display and indicator panel that has a plurality of indicia, each associated with a monitored condition. First light emitters are arranged to project light to illuminate the indicia and second light emitters are arranged to project light off a reflective surface. The controller is coupled to the display and the light emitters, and is configured to, in response to a change in a state of one of the monitored conditions, generate on the display a state indicator corresponding to the change in the state and activate the light emitters such that a color of the light projected by the light emitters matches a color of the state indicator.

Abstract: The selective rejection of touch contacts in an edge region of a touch sensor panel is disclosed. In addition, by providing certain exceptions to the rejection of edge contacts, the functionality of the touch sensor panel can be maximized. Contacts in edge bands around the perimeter of a touch sensor panel can be ignored. However, if a contact in the edge band moves beyond a threshold distance or speed, it can be recognized as part of a gesture. To accommodate different finger sizes, the size of the edge band can be modified based on the identification of the finger or thumb. Furthermore, if contacts in the center region of a touch sensor panel track the movement of contacts in the edge band, the contacts in the edge band can be recognized as part of a gesture.

Abstract: A method includes determining a current situation to be present in a process controlled by an industrial process control and automation system (IPCS) that includes at least one process controller coupled to input output (I/O) modules coupled to field devices including sensors and actuators that are coupled to processing equipment. Responsive to the current situation, displaying a plurality of suggested actions each including at least one step in a selectable panel in a human machine interface (HMI) associated with an operator computing system for an operator that is coupled to the process controller. Responsive to the displaying, the operator selects in the selectable panel at least one of the plurality of suggested actions (selected action). The selecting of the selected action results in the IPCS automatically implementing at least in part the step(s) associated with the selected action.

Abstract: A valve driver system for driving a plurality of valves of a valve manifold. The system includes a plurality of valve drivers, wherein each valve driver is configured to drive a zone of one or more valves of the manifold; and, a power board that separately powers the respective valve drivers such that the valve drivers are powered separately with a separate power source that can individually power the valve driver. A multiple safety zone valve driver system for driving a plurality of valves of a valve manifold. The system includes a plurality of valve drivers; a first safe PM output; and a second safe PM output. The first and second safe PM outputs are configured such that in response to a first type of safety event the first PM output shuts off power to the first one or more valve drivers and the second PM output maintains power to the second one or more valve drivers.

Abstract: An alarm management apparatus of the present disclosure presents a trigger alarm, which should be presented to an operator, to the operator when the trigger alarm is included in an alarm that is received or generated. The alarm management apparatus stores a suppressed alarm related to the trigger alarm, without presenting the suppressed alarm to the operator, when the suppressed alarm is included in the alarm and presents the stored suppressed alarm to the operator based on an operation by the operator.

Abstract: Embodiments include a server system including logic of an edge computing device. A network includes a cloud platform able to receive utilization change events from a utilization module, and execution of the program logic results in process steps of a method that include transmitting a plurality of attributes from the cloud platform to the at least one edge computing device, where the plurality of attributes can be associated with a device of a distributed environment coupled to the network. Another step includes receiving from the utilization module, by the edge computing device, current utilization data of the device, and a further step includes performing a comparison based on a set of rules or mappings of the attributes, by the edge computing device, of the current utilization data. Finally, based on the comparison, the method includes sending, by the edge computing device, an update to a human-machine-interface module.

Abstract: A syringe pump can be operated to produce fluid flow from a syringe installed therein. Features of the pump can produce a desired rapid commencement of flow followed by smooth delivery uninterrupted by stiction-induced slowing and acceleration. A stiff drivetrain can facilitate detection of excessive forces indicative of friction at a stopper-wall interface. The motor drive, gearing, and control parameters can enable customized acceleration patterns to determine optimal initial stage advancement to provide fluid delivery. These patterns can minimize or eliminate the delay in commencement of flow by overcoming both mechanical slack remaining and syringe stopper slack. To avoid flow irregularities produced by stiction forces in the stopper further, a mechanical vibration can be provided to the syringe and/or barrel to introduce movement of the stopper-wall interface, reducing the creation of high static friction coefficients.

Abstract: A riser sensor unit is used to sense engagement of a subsea riser tool with a riser coupling. The riser sensor unit includes a power supply configured to convert alternating current to direct current, an intrinsic safety barrier connected to the power supply, and a first sensor powered by the intrinsic safety barrier. The first sensor is attached to a sub of the subsea riser tool and is configured to generate a first signal upon detecting contact of a bottom surface of the sub with the riser coupling. The intrinsic safety barrier is configured to receive the first signal from the first sensor and transmit the first signal to a control system located remotely from the intrinsic safety barrier.

Abstract: Disclosed is a system for monitoring confined spaces. The system includes a portable area monitor that operates in a local LTE network, and thus, is included into a cloud-based platform. A Wi-Fi antenna is included in the confined space, enabling communications with both smart communication devices and gas sensors worn by workers while inside the confined space, thus providing cloud network visibility.

Abstract: Embodiments of the inventive concept enable a user to define exactly what and/or where they would like to set a digital pinpoint bookmark, and at a later time, engage the use of the pinpoint bookmark so that they can jump back to the very spot where they left off. In an augmented reality environment, the pinpoint bookmark may point to a real object or a virtual object. In a virtual reality environment, the pinpoint bookmark may point to a virtual object. The pinpoint bookmark is a visual mark that overlays the digital content and that points directly to the spot (i.e., directly to a punctuation mark, letter, word, paragraph, image, video clip, audio clip, real object, virtual object, or the like) so that it is easy and quick for the user to get back to the exact position. The pinpoint bookmark can be cleared using a button. Multiple pinpoint bookmarks across various different personal computing devices associated with a single user can be centrally stored and managed using a remote pinpoint bookmark database.

Abstract: A screen data generating system (100) includes: a generation device (10) to generate screen data for displaying a monitoring screen (101) used for monitoring an operating state of a control device (30) that controls an apparatus (40); and a server (20) to acquire, from the control device (30), device identification information for identifying the control device (30) and unit configuration information about a unit included in the control device (30) to provide the acquired device identification information and the acquired unit configuration information. The generation device (10) includes a template storage to store multiple templates of the screen data, and generates, from a template including the unit configuration information provided by the server (20), the screen data relating to the control device indicated by the device identification information provided by the server (20).

Abstract: An embodiment emergency call sending apparatus includes a telematics module configured to send an emergency call when an accident occurs, and an emergency call complementing module configured to monitor whether an emergency call transmission executed by the telematics module succeeds or fails, search for an available network near a vehicle, access the available network when the emergency call transmission fails, and control a complement of the emergency call transmission.

Abstract: A semi-supervised model incorporates deep feature learning and pseudo label estimation into a unified framework. The deep feature learning can include multiple convolutional neural networks (CNNs). The CNNs can be trained on available training datasets, tuned using a small amount of labeled training samples, and stored as the original models. Features are then extracted for unlabeled training samples by utilizing the original models. Multi-view clustering is used to cluster features to generate pseudo labels. Then the original models are tuned by using an updated training set that includes labeled training samples and unlabeled training samples with pseudo labels. Iterations of multi-view clustering and tuning using an updated training set can continue until the updated training set is stable.

Abstract: A compartment in a vehicle can be loaded by an object and an operating device having a user interface configured to output at least one output signal on a part of the user interface. The operating device is designed to cover the compartment. The compartment includes a sensing unit configured to detect the presence of the object when at least a part of the object is loaded into the compartment and the operating device includes control circuitry configured to display a digital image of the object on a part of the user interface.

Abstract: A system reduces risk of pathogen exposure within a space that is located within a facility having a plurality of spaces that periodically have one or more people within the space. The system includes one or more occupancy sensors that are configured to provide an indication of when the space is occupied and when the space is not occupied. A sanitizer is configured to sanitize surfaces within the space when activated. A controller is operably coupled with the one or more occupancy sensors and the sanitizer. The controller is configured to determine a designated time to sanitize the space based at least in part upon information received from the one or more occupancy sensors and to automatically instruct the sanitizer to sanitize surfaces within the space at the designated time.

Abstract: Techniques to facilitate interactions with industrial devices in an industrial automation environment are disclosed herein. In at least one implementation, a realtime communication connection is established through a common gateway platform to an industrial controller. A realtime notification message is received comprising industrial data and display instructions encoded into a text string generated by the industrial controller, the display instructions comprising display properties for the industrial data that specify how to display the industrial data on a computing device. The text string is processed to generate and render a display of the industrial data for display on the computing device according to the display properties provided in the display instructions.

Abstract: A design support device includes an operation reception unit that receives an operation from a user, a program creation unit that creates a ladder program in accordance with the operation received by the operation reception unit, and a circuit block extraction unit that extracts a circuit block from the ladder program when the circuit block is formed and a predetermined condition is satisfied. The circuit block is formed by detecting that one end of a circuit including a plurality of program elements is connected to one of two power rails included in the ladder program and that another end of the circuit is connected to another one of the two power rails. Further, there is a circuit block memory that stores configuration information of the circuit block extracted by the circuit block extraction unit. There is also a notification unit.

Abstract: A distributed system of home device controllers can control a set of home devices. A home device controller of the system can determine a set of configurations for a set of home devices being repeatedly configured by a user. The controller can automatically display a selectable feature indicating a suggested scene corresponding to the set of configurations for the set of home devices. The system can receive one or more inputs to select the suggested scene, and based at least in part on the one or more inputs, associate the suggest scene with a set of triggers. In response to detecting the set of triggers, the controller can automatically transmit a set of commands that correspond to the suggested scene to the set of home devices to execute the suggested scene.

Abstract: A graph display device according to one aspect of the present invention generates a first directed graph, which contains a plurality of first nodes respectively representing device variables, edges representing the existence of a dependency relation, and a block representing a function, and a second directed graph, which contains a plurality of first nodes, edges, a block, and a plurality of second nodes arranged in the block and respectively representing function parameters. In response to an instruction from a user the display device switches between displaying the generated first directed graph and displaying the generated second directed graph.

Abstract: A system can receive, at a user interface, at least one constraint and a range for at least one parameter for a wellbore operation. The system can generate, by at least one algorithm, a recommendation of a value for the at least one parameter within the range for the at least one parameter. The recommendation can be based on a sustainability metric and the at least one constraint for the wellbore operation. The system can output, at the user interface, the recommendation of the value for the at least one parameter and an indication of additional outcomes for the sustainability metric using other values within the range for the at least one parameter.

Abstract: A handset for controlling a surgical operating table, the handset having a three-dimensional physical representation of a tabletop of a surgical operating table, the physical representation of the tabletop comprising a back section, a seat section and one or more leg sections, wherein at least one of the sections includes a respective sensor arranged to sense a force or movement applied to a surface of the respective section by a touch applied to the surface, and a control system within the handset which is connected to the sensor, the control system being arranged to generate an output control signal for transmission to the surgical operating table to be controlled in response to an input command of an applied force or applied movement sensed by the respective sensor. Methods of controlling a tabletop of a surgical operating table using the handset are also disclosed.

Abstract: A controller device includes a memory configured to store a tree structure comprising a plurality of nodes, wherein the tree structure comprises a set of sub-structures, and wherein the tree structure defines a configuration of a network device of a set of network devices such that each node of the plurality of nodes corresponds to a respective resource of the network device. Additionally, the controller device includes processing circuitry configured to receive an instruction to update the configuration of the network device, wherein the instruction to update the configuration of the network device indicates a node of the set of nodes corresponding to the update; and verify, based on a sub-structure of the set of sub-structures corresponding to the node indicated by the instruction, the instruction to update the configuration of the network device.

Abstract: A remotely controlled device receives touch input data from a remote controller that includes a touch screen. The remotely controller device interprets the touch input data in combination with a current context of the GUI to determine an appropriate command for the current context of the GUI, and updates the GUI in response to the appropriate command. Further, the remotely controlled device sends information via a bidirectional communication protocol to the remote controller informing the remote controller of a context displaying a keyboard, and the remote controller is configured to display a keyboard on its touch screen in response to the information sent via the bidirectional communication protocol.

Abstract: A disaster recovery is provided. A plurality of assets is connected in a plurality of tree networks, and the plurality of tree networks are interlinked to form a master mesh network. When an asset in the master mesh network is impacted, multiple alternate paths are determined to operationalize at least some of the impacted assets.

Abstract: A work machine includes: a work implement including a bucket; a bucket position obtaining unit that obtains a position of the bucket; a distance calculating unit that calculates a distance between the position of the bucket obtained by the bucket position obtaining unit and a design topography of an execution object; and a recording unit that records existing topography data corresponding to the position of the bucket, based on the distance calculated by the distance calculating unit.

Abstract: An object is to provide a machine tool operation system that enables inputs to an NC device of a machine tool by use of a tablet terminal from any location and an operation method using the system. The machine tool operation system includes an NC device, a computer connected to the NC device, and a tablet terminal that is in wirelessly communication with the computer and enables inputs and outputs of signals for the NC device via the computer. The tablet terminal includes a display unit that make to display a menu screen on a display screen, an input unit that receives an input from a user, and an input processing unit that outputs an input signal transmitted to the computer based on the input. The computer includes a signal processing unit that outputs a command signal for a machine tool operation based on the input signal.

Abstract: A transfer device and a control device for controlling the transfer device are provided. The control device is configured to execute setting control to set a storing position, in a container, of each of a plurality of articles to be stored in the container, storage control to control the transfer device so as to store each of the articles at the storing position, and replacement control to replace one of a first holding portion and a second holding portion attached to the attachment portion with the other one. The setting control is control to set the storing position in accordance with an order of transferring the plurality of articles so as to sequentially place the articles from a reference position that is set at a position adjacent to a side wall portion.

Abstract: A router device for matching operations of client devices hosted on a network with contextual automations gathers device information from client devices that are connected to the router device via a wireless local area network (WLAN), wherein the client devices include a user device and one or more other devices, sends the device information collected from the client devices to a first remote server, receives device identification information of the client devices from the first remote server based on the device information, respectively, sends the device identification information of the client devices to a second remote server, receives a list of condition-based automations (CBAs) that are available and applicable for one or more of the client devices from the second remote server based on the device identification information, and sends the list of CBAs to the user device for presentation via a display.

Abstract: A password less login using a smart device is caused to retrieve from a cloud-server a one-time use code. The smart device is associated with a virtual user account to control a plurality of controllable devices with a device app installed on a smart device. The one-time use code is provided to a controllable device and the controllable device is caused to provide the one-time use code back to the smart device. The app causes the one-time use code provided back to the smart device by the controllable device to be authenticated. In response to the one-time use code being authenticated, the controllable device is bound to the app whereupon the controllable device is controllable through use of the app.

Abstract: A method for monitoring and recording a process in a clean space and a system for implementing same are provided. The method involves providing an electronic process record to a user using at least one processor; monitoring, using at least one sensor, for an event associated with the electronic process record; detecting, using the at least one sensor, the event associated with the electronic process record; recording in at least one data storage, using the at least one processor, information associated with the detected event, the recorded information being associated with a record of the electronic process record in the at least one data storage; verifying, using the at least one processor in communication with the at least one data storage, the recorded information; and storing in the at least one data storage, using the at least one processor, an indication that the recorded information has been verified.

Abstract: Automated skill matching is provided in industrial control. The interfaces (12, 17) and/or the production processes (13, 18) of the controller (16) and machine (11) are matched. The matching of the interfaces (12, 17) links parameters except for optional parameters to check for incompatibility. The matching of the production processes (13, 18) uses a cross-product of the process (13) of the machine (11) with the process (18) of the controller (16) to check for incompatibility. The skill checking guides manual confirmation of compatibility, reducing downtime and reducing engineering or programming time. The machine (11) is more likely to operate correctly with the controller (16) due to the automated skill matching.

Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.