Abstract: An object taking out apparatus capable of taking out randomly stacked objects with high reliability and low cost. An image of one of workpieces as objects of taking out at a reference position is captured by a video camera. Whole feature information and partial feature information are extracted from the captured image by a model creating section and a partial model creating section, respectively, and stored in a memory with information on partial feature detecting regions. An image of randomly stacked workpieces is captured and analyzed to determine positions/orientations of images of the respective workpieces using the whole feature information. Partial feature detecting regions are set to the images of the respective workpieces using the determined positions/orientations of the respective workpieces and information on partial feature detecting regions stored in the memory.

Abstract: An apparatus and associated method, the apparatus comprising a controlled element (10), such as a robotic manipulator, and a dynamically updatable control system (11). The control system (11) uses a control system equation (eq. (1)) to determine control signals (dq/dt) for controlling the controlled element (1) given any required inputs (q, V) to the control system equation (eq. (1)). The control system (11) is dynamically updatable in that in response to a script file indicating a code structure (11d) preferably having linked nodes (12a 13a-c) and representing at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)), the control system (11) creates the code structure (11d), at run-time, and does so such that the nodes (12a 13a-c) can be queried (i.e. are executable logic) to provide values for at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)).

Abstract: A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator.

Abstract: A method for classifying a rollover event of a vehicle is used to classify a rollover event on the basis of a rotational angle and a rotation rate of the vehicle and to transmit an emergency call as a function of the classification. The rollover event itself is recognized on the basis of a momentum or energy criterion. The rotation rate is summed to determine the rotational angle, the summed rotation rate as well as the rotation rate being compared to classification boundaries as a pair of values in order to perform a classification. The emergency call is made only if the restraint devices have been deployed.

Abstract: A robot system includes a plurality of segments 3, joints 4 for linking the segments together, drive units 5 for actuating the joints, and a controller 8 for controlling the drive units. Further, the robot system has bladders 2 filled with a fluid being of lower specific gravity than the outside environment. A center of buoyancy differs from a center of gravity, and the robot system has a specific gravity of greater than 1 relative to the outside environment.

Abstract: To provide a collision detecting apparatus for a vehicle, including an integrating apparatus for cumulatively integrating an output from the acceleration sensor when the output exceeds a specific calculation start level, and a collision detecting apparatus for outputting a collision signal when a cumulative integral value calculated by the integrating apparatus exceeds a threshold value. The collision detecting apparatus is intended to accurately perform a collision decision with a high responsiveness irrespective of the severeness of the collision. The collision detecting apparatus includes a differentiating apparatus D for differentiating the output G from the acceleration sensor S, and a correcting apparatus H for correcting the threshold value &agr; on the basis of a differential value (dG/dt) calculated by the differentiating apparatus D.

Abstract: A robot controller capable of minimizing an increase in the tact time during work, reducing changes in joint axes of the robot, thereby providing the structure with long mechanical life. The robot controller i) stores a plurality of movement data formed of amount and time for movement; ii) checks whether a movement of a robot has acceleration exceeding a predetermined level by calculation on the basis of the stored movement data; iii) increases the time for movement of the corresponding movement data, the preceding and following data to the movement data, if the calculation indicates over-acceleration; and iv) controls the robot according to the time-increased movement data.

Abstract: A method and device is provided for multistage calibration of multiple-axis measuring robots (6) and associated optical measuring devices (10), especially 3D sensors, in a measuring station (1) for workpieces (2), preferably the bodyshells of motor vehicles. Calibration occurs in a measuring cascade comprising at least three calibrating steps, whereby the optical measuring device (10) and the operating point (28) thereof, the manipulator (6) and the axes thereof and the allocation of the manipulator (6) with respect to the workpiece (2) are successively calibrated. The calibration device (47) includes a control and a calibration system (27) for the operating point (28), a calibration body (15) for the axes of the manipulator and a calibration device (12) for the allocation of the manipulator with respect to the workpiece.

Abstract: An apparatus, method and medium is provided for increasing the efficiency with which wafers are transferred among different processing chambers in a wafer processing facility. A multi-slot cooling chamber allows multiple wafers to be cooled while other wafers are subjected to processing steps in other chambers. Each wafer in the processing sequence is assigned a priority level depending on its processing stage, and this priority level is used to sequence the movement of wafers between chambers. A look-ahead feature prevents low-priority wafer transfers from occurring if such transfers would occur just prior to the scheduling of a high-priority wafer transfer.

Abstract: A plurality of pieces of medical equipment each of which includes a microcomputer and has a program used to control the microcomputer stored in a reproqrammable storage device such as an EEPROM is linked to a remote computer over a communication line. Using a rewriting/updating program sent from the computer, each piece of medical equipment rewrites or updates the program stored in the storage device. When a plurality of programs is stored, if one of the programs is rewritten or updated abnormally, the other program is used to activate medical equipment.

Abstract: A movable prosthetic limb includes a drive linkage which is configured to move the prosthetic limb. An ultrasonic drive motor is coupled to the drive linkage and powers the drive linkage. The ultrasonic motor is non-backdrivable and has high torque at low speeds. Specifically, a prosthetic limb uses an ultrasonic motor to drive an elbow joint or prosthetic fingers. A movable prosthetic wrist includes a base configured to be coupled to an amputee. An ultrasonic drive motor is attached to the base, and a hand piece is attached to the ultrasonic drive motor to form a wrist joint. In this configuration, the ultrasonic drive motor directly moves the wrist joint. A harmonic drive can also be used for gear reduction in the wrist joint.

Abstract: A method for thermal driven placement begins by first computing thermal response functions for individual components for several locations on a placement surface as a preprocessing step to placement. The thermal response functions can then be used to compute junction temperatures of components quickly and accurately during placement of the components in a layout. For a given component location, the component's junction temperature is computed by summing the contributions of neighboring components with the component's own contribution. The difference between predefined junction temperatures for the components and the calculated junction temperatures can then be used to assess the merits of the placement.

Abstract: A robotic machine includes a machine tool removably supported in a mount for following a programmable path over a workpiece. A calibration pointer includes a housing configured like the tool for being supported in the mount, and a laser is affixed in the housing for emitting a laser beam at the workpiece. In a method of operation, the laser beam is projected from the laser in a focused spot at the workpiece at an offset therefrom. The spot permits accurate programming of the machine without contacting the workpiece.

Abstract: A self-teaching robot arm positioning method that compensates for support structure component alignment offset entails the use of a component emulating fixture preferably having mounting features that are matable to support structure mounting elements. Robot arm mechanism motor angular position data measured relative to component emulating fixture features are substituted into stored mathematical expressions representing robot arm vector motion to provide robot arm position output information. This information indicates whether the actual relative alignment between the robot arm mechanism and a semiconductor wafer carrier is offset from a nominal relative alignment. For manual correction, robot arm mechanism position output information provides the angular offset between the actual and nominal radial distances between the robot arm mechanism shoulder axis and two locating features of the component emulating fixture.

Abstract: A device for the simulation of spinning machines with a view to their optimum economic use and operation. Starting from material properties of a preproduct (1) determined by measurement, as well as from configuration and setting parameters (3) of such a spinning machine, material properties (2) of the intermediate or output products which are being produced, which properties can be determined by measurement, are predicted using a process model describing the behavior of the spinning machine, by a simulation device. The process model on which a method being based is presented by a neural network. The coefficients determining the actual behavior of this neural network area calculated from a set of sample data in a training phase. This sample data and/or from otherwise conclusively predicted properties of the behavior of such a spinning machine.

Abstract: A system, apparatus and method for machining a rotor by determining a center plane of the rotor based two surfaces of the rotor, preferably two interior surfaces; positioning the rotor based on the determined center plane; and then machining the positioned rotor. The center plane of the rotor is determined using at least one image of the rotor. In some preferred embodiments, the center plane is determined using a series of successive images of the rotor. The center plane can be determined based on a measure of parallelism of two braking surfaces of the rotor or of two interior, non-braking surfaces of the rotor. Before and/or after the rotor is machined, it can also be inspected.

Abstract: An information processing system comprises a plurality of systems (1, 3, 4, 6) communicating through a transmission path (2) and performing a processing base on their own function. One of the plurality of systems acts as as an supervising system having a supervising function. The supervising system (1, 4) sets a goal for each of the plurality of systems, collects the processing result on each system and evaluates the processing result; and on the basis of the processing result, the supervising system sets a new goal for each system considering a goal of the entire system comprising said plurality of systems.

Abstract: An apparatus, for use in a Reed-Solomon decoder, evaluates a polynomial P(X) iteratively, by substituting .alpha..sup.-(N-j) for X in a jth iteration, to thereby provide a jth evaluation result P(.alpha..sup.-(N-j)), wherein j is an integer ranging from 1 to N, N being a predetermined positive integer, and .alpha. is a primitive element in a finite field GF(2.sup.m).

Abstract: A device having a checking function includes a detector for detecting unrelated data included in first inputted calculation data which is not related to a predetermined calculation to be performed on the first inputted calculation data. A memory controller is provided for controlling a memory so as not to store the unrelated data included in the first inputted calculation data when the detector detects the unrelated data. A check mode may be set whereby second inputted calculation data is compared with the stored first inputted calculation data and whereby it is then determined whether the second inputted calculation data is coincident with the stored first inputted calculation data. In addition, an indicator is provided for alerting a user when it is determined that the second inputted calculation data is not coincident with the stored first inputted calculation data.

Abstract: A system and method of efficiently transferring a cache line of data between a cache memory to a processor. A first group of M words is transferred between the cache memory and the processor in a first cache transfer cycle, where the first group of M words includes a tag word and M-1 words from the plurality of data words in the cache line. A second group of M words is transferred between the cache memory and the processor in a second cache transfer cycle, where the second group of M words includes M additional words from the plurality of data words. The process continues until the entire cache line has been transferred between the cache memory and the processor.