Abstract: An affect-based method of communication between robots is provided by displaying a visual facial expression indicative of a simulated emotional state on a display device of a first robot, and viewing the visual facial expression using a camera on a second robot. The simulated emotional state may be one of happiness, anger, or sadness, for example. The second robot determines the simulated emotional state based upon the visual facial expression. The second robot processes the simulated emotional state to redefine its own simulated emotional state, and to display a visual facial expression indicative thereof. The visual facial expression allows a human observer to discern the simulated emotional state of the robot. Optionally, the robots further communicate affect using audio tones.

Abstract: A programmable system for controlling the refrigeration of a transportable container is provided. The system is programmed by insertion of a card into the control system so as cause a control program to be transferred from the card to a memory within the control system.

Abstract: A new method and apparatus for fabrication or alignment of fixtures, jigs and structures is disclosed. The invention uses target points on one or more details which are referenced to the overall structure via targets on the details. These targets are monitored by a TV camera unit which is alternatively interfaced to a display for the human operator or a robot to provide position data. The interface may include input from a CAD system which allows display on robot coordinates to be offset by design data of the structure or a part to be located on it.While mainly envisioned for assistance in constructing fixtures for automobile assembly, the disclosed invention is widely useable for all types of construction including aircraft, bridges, boats, buses, houses, buildings and the like. A means for improving resolution of automatically servoed camera based systems is also disclosed.

Abstract: Transmitter in a process control system includes a resistance sensor sensing a process variable and providing a sensor output. Sensor monitoring circuitry coupled to the sensor provides a secondary signal related to the sensor. Analog-to-digital conversion circuitry coupled to the sensor output and the sensor monitoring circuitry provides a digitized sensor output and a digitized secondary signal. Output circuitry coupled to a process control loop transmits a residual life estimate related to residual life of the sensor. A memory stores a set of expected results related to the secondary signal and to the sensor. Diagnostic circuitry provides the residual life estimate as a function of the expected results stored in the memory, the digitized sensor output and the digitized secondary signal.

Abstract: An apparatus and method is provided for managing and distributing design and manufacturing information throughout a factory in order to facilitate the production of components, such as bent sheet metal components. In accordance with an aspect of the present invention, the management and distribution of critical design and manufacturing information is achieved by storing and distributing the design and manufacturing information associated with each job. By replacing the traditional paper job set-up or work sheet with, for example, an electronically stored job sheet that can be accessed instantaneously from any location in the factory, the present invention improves the overall efficiency of the factory. In addition, through the various aspects and features of the invention, the organization and accessibility of part information and stored expert knowledge is improved.

Abstract: A method is disclosed for generating a model for predicting standard cycle time for a semiconductor process stage. A generic cycle time model is created based on Little's formula and Kingman's equation. Past cycle times as related to equipment utilization is used to generate a regression curve. The regression curve is then used to determine the coefficients of the generic cycle time model. Then, the standard cycle time of a stage for a future upcoming cycle is determined by using the cycle time model.

Abstract: An apparatus and method are provided for integrating an intelligent manufacturing system with an expert sheet metal planning and bending system. The intelligent manufacturing system manages and distributes part design and manufacturing information throughout the locations of a production facility. The expert planning system includes a plurality of expert modules for proposing a bending plan, including bend sequence and tooling selections, and robot motion planning and repositioning. Through the various features and aspects of the present invention, an operator can selectively modify and adapt these integrated systems for particular bend applications, including robot-based and human assisted bending operations.

Abstract: A system and method for sampling and reconstructing weak signals using the non-linear/chaotic dynamics of a chaotic system. Continuous-time disturbance signals introduced into a chaotic system are detected, amplified, and reconstructed from the discrete-time perturbations needed to maintain a controlled periodic orbit in the chaotic system.

Abstract: A method of analyzing factors affecting the product quality performs adjustment of molding conditions for an injection molding machine. Data effective to discriminate the product quality is properly selected, and molding conditions for eliminating a molding abnormality are easily determined for an appropriate adjustment of the molding conditions. First and second principal component axes are defined by obtaining correlation coefficients indicating correlations of variations of plural conditions related to an injection molding operation, and performing a principal component analysis. Points representing dispersion of various conditions with respect to each principal component axis, are plotted on a rectangular coordinate system. The characteristic of variation tendency of data of the various conditions is synthetically evaluated on the basis of the first and second principal components which are most affecting the variation of data of the various conditions.

Abstract: A free-form curve interpolation method and device is provided for smoothly interconnecting curves using a non-uniform rational B-spline (NURBS) curve representation. This ability to interconnect free-form curves is important when machine parts of small dimensions or complex configuration. This is accomplished by a preprocessing calculation unit reads NC programs including an interpolation command of a NURBS curve expressed by a function using a parameter t as a variable, and calculates a distance .DELTA.L to move during an interpolation period T. A parameter change calculation unit calculates a change .DELTA.t in the parameter t brought on when moving by the distance .DELTA.L, on the basis of a current position specified by a current value t.sub.i of the parameter t. A movement amount calculation unit calculates a position when the value of parameter t is t.sub.i +.DELTA.t, by a defining formula of the NURBS curve.

Abstract: A process for placing a part in a predetermined region is described. The part is defined by a part boundary and the predetermined region is defined by a region boundary. The process includes the steps of identifying corner locations of the bounded region in which parts may be placed and minimizing waste during part placement. Waste minimization may be accomplished by placing the part in a plurality of different locations in the predetermined region and at each location identifying area elements which extend from the part boundary of the part, computing the area of each of the area elements, assigning a weight value to each of the area elements and computing a weighted sum of the area elements surrounding the part boundary in each of the locations of the predetermined region. Waste is minimized at a first one of the plurality of locations of the predetermined boundary having the lowest weighted sum.

Abstract: A prescription dosage unit dispensing system including a housing having a plurality of cells, each cell adapted to contain a base-port subunit including a dosage unit dispensing device, a disposable drug-containing tower unit containing in sealed condition a single type of solid dosage unit is operatively connected to the base-port subunit and a device for securing a vial in place so that it can receive the solid dosage units from the drug-containing tower unit as instructed manually or via automated microprocessor/computer control.

Abstract: A method and apparatus for programming the motion of a machine tool in a three-dimensional machining space defined by an X, Y and Z coordinate system, the machine tool having a spindle linearly displaceable in three orthogonal X, Y and Z axes and rotatable about two mutually perpendicular A and C axes within the machining space. A probe, mounted in the spindle and coupled to transducers, is moved by hand through a desired cutting path for an actual part. A computer connected to the transducers moves the machine in the direction that the probe is moved and selectively records the position of the probe to create an NC parts program that replicates the cutting path motions.

Abstract: A weld controller is coupled to a communications network which has an operator interface unit for monitoring and controlling the weld controller and other weld controllers on the network. A common database in the operator interface unit is accessible across the communication network by the weld controller regardless of the data structure of the database. The weld controller can use the database to obtain different weld schedules, duplicate its own weld schedule to provide for easy replacement, and as a data storage for its operating parameters and values. The weld controller has a dual communications port that allows for a variety of operator interface configurations. Data from weld controller can be accessed by the operator interface controller based upon the weld controller's individual data structure and type through embedded objects resident in the operator interface's operating system and program.

Abstract: A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.

Abstract: System and method for optimizing the processing of materials, particularly the processing of cotton in a cotton gin or a textile mill. Cotton moisture, color, and foreign matter measurements are made with electronic sensors at three stations. For a gin, a dynamic programming model uses input information relative to the moisture and trash content, color, lint turnout, staple length, cotton price structure, and energy costs to select an optimum drying and cleaning sequence for the cotton. The dynamic programming model optimizes cotton producer profits by selecting the amount of gin machinery necessary to achieve the most beneficial market value while minimizing the machinery used. Automated directional valves are used to route the cotton through the selected optimum combination of seed cotton cleaners, multi-path driers, and lint cleaners.

Abstract: The invention provides methods and apparatus for dispensing items from a dispensing unit. According to the invention, the dispensing unit comprises a plurality of locations in which the items are held, a processor in which records corresponding to the items on the unit are stored, and a plurality of item switches corresponding to the locations in which the items are held. The item switches are connected to the processor so that a user of the dispensing unit can input records of items removed from the unit into the processor. The apparatus described is particularly suited for dispensing medical supplies although the apparatus will be usable for other types of items as well. Preferred embodiments will include a plurality of visual indicators, typically in the form of light emitting diodes, corresponding to the locations in which the items are held.

Abstract: A scanning probe microscope controller includes a digital signal processor (DSP) and an analog feedback control loop. The DSP serves to process the output of the scanning probe in the digital realm after conversion of the signal to digital form. After processing, the signal is restored to analog form. The height correction signal to be applied to a transducer controlling the distance between the scanning probe and a sample surface is then generated by an analog feedback control circuit, at least one parameter of which is under computer control. At the end of each scan-line, a variance may be calculated for the data and the inverse of this quantity is used to adjust the gain with which digitization of the data is carried out. Linearization of the data to correct for non-linearities in the scanning transducers may be carried out by the DSP after the data is acquired. This permits the scanning ramps applied to the transducers to be linear but the final displayed data do not show the effects of non-linearities.

Abstract: A fault-tolerant HVAC system capable of continued operation in the event of a thermostat malfunction. An HVAC controller controls the operation of an HVAC unit in accordance with a temperature signal output from the thermostat and indicative of air temperature of a conditioned space proximate the thermostat. The HVAC controller detects a thermostat malfunction and, in response thereto, instead controls the operation of the HVAC unit in accordance with a temperature sensor outputting a signal indicative of return air temperature from the conditioned space.

Abstract: A liquid dispense system for dispensing a 2-part epoxy resin compound to form bond beads having weights on the order of 1-20 mg. The dispensing system includes an epoxy resin compound pre-mixing and loading station, an epoxy dispense time and dispense force calibration station, and a plurality of epoxy dispensing third stations. Throughout the process, critical dispense related data is recorded on, and retrieved from, an on-board semiconductor memory device mounted on, and maintained with, the portable dispense syringe structure. Since the viscosity of the mixed epoxy compound is changing over time, any dispensing of constant amounts of the epoxy compound requires adjustments to dispense time and dispense force. These adjustments are made at a dispense station and are based on a calibration sample taken at the calibration station.