Abstract: A method includes receiving a device design layout and a scribe line design layout surrounding the device design layout. The device design layout and the scribe line design layout are rotated in different directions. An optical proximity correction (OPC) process is performed on the rotated device design layout and the rotated scribe line design layout. A reticle includes the device design layout and the scribe line design layout is formed after performing the OPC process.

Abstract: A three-dimensional measuring device includes a ball-shaped structure, an X-axis measuring module, a Y-axis measuring module and a Z-axis measuring module. The ball-shaped structure is moved and/or rotated in response to a movement of a movable object. The X-axis measuring module includes a first measuring structure and a first position sensor. The first measuring structure is movable along an X-axis direction and contacted with the ball-shaped structure. The Y-axis measuring module includes a second measuring structure and a second position sensor. The second measuring structure is movable along a Y-axis direction and contacted with the ball-shaped structure. The Z-axis measuring module includes a third measuring structure and a third position sensor. The third measuring structure is movable along a Z-axis direction and contacted with the ball-shaped structure.

Abstract: An origin calibration method of a manipulator is provided. The origin calibration method includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the 3D coordinates of the reference anchor points reached by the manipulator; (b) controlling the manipulator to move in accordance with the movement command while an origin of the manipulator being offset, acquiring the 3D coordinates of the actual anchor points reached by the manipulator, and acquiring a Jacobian matrix accordingly; (c) acquiring a deviation of a rotation angle of the manipulator according to the Jacobian matrix, the 3D coordinates of the reference anchor points and the actual anchor points, and acquiring a compensation angle value according to the deviation; and (d) updating the rotation angle of the manipulator according to the compensation angle value so as to update the origin of the manipulator.

Abstract: A coordinate calibration method of a manipulator is provided and includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the reference anchor points reached by the manipulator; (b) acquiring a rotation matrix and a translation vector according to the reference anchor points, and acquiring a reference coordinate system accordingly; (c) when the manipulator returning to the work space after temporarily leaving, controlling the manipulator to move in accordance with the movement command, and acquiring the actual anchor points reached by the manipulator; (d) acquiring a rotation matrix and a translation vector according to the actual anchor points, acquiring a corresponding actual coordinate system accordingly, and acquiring a coordinate compensation information by comparing the rotation matrixes and the translation vectors; and (e) adjusting the manipulator according to the coordinate compensation information, and maintaining the manipulator to operate in t

Abstract: A motor brake module for braking a motor is provided. The motor includes a shell, a shaft portion and a driving portion. The motor brake module includes a brake assembly, a block assembly and an armature assembly. The brake assembly includes a shaft hole, plural teeth and plural openings. The shaft portion passes through the shaft hole, and the shaft portion drives the brake assembly to rotate when the shaft portion is rotated. The armature assembly is connected with the block assembly for driving the block assembly to move between the armature assembly and the brake assembly. When the block assembly is moved toward the brake assembly, a portion of the block assembly is contacted with one of the plural teeth and the other portion of the block assembly passes through one of the plural openings.

Abstract: A coordinate calibration method of a manipulator is provided and includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the reference anchor points reached by the manipulator; (b) acquiring a rotation matrix and a translation vector according to the reference anchor points, and acquiring a reference coordinate system accordingly; (c) when the manipulator returning to the work space after temporarily leaving, controlling the manipulator to move in accordance with the movement command, and acquiring the actual anchor points reached by the manipulator; (d) acquiring a rotation matrix and a translation vector according to the actual anchor points, acquiring a corresponding actual coordinate system accordingly, and acquiring a coordinate compensation information by comparing the rotation matrixes and the translation vectors; and (e) adjusting the manipulator according to the coordinate compensation information, and maintaining the manipulator to operate in t

Abstract: An origin calibration method of a manipulator is provided. The origin calibration method includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the 3D coordinates of the reference anchor points reached by the manipulator; (b) controlling the manipulator to move in accordance with the movement command while an origin of the manipulator being offset, acquiring the 3D coordinates of the actual anchor points reached by the manipulator, and acquiring a Jacobian matrix accordingly; (c) acquiring a deviation of a rotation angle of the manipulator according to the Jacobian matrix, the 3D coordinates of the reference anchor points and the actual anchor points, and acquiring a compensation angle value according to the deviation; and (d) updating the rotation angle of the manipulator according to the compensation angle value so as to update the origin of the manipulator.

Abstract: A three-dimensional measuring device includes a ball-shaped structure, an X-axis measuring module, a Y-axis measuring module and a Z-axis measuring module. The ball-shaped structure is moved and/or rotated in response to a movement of a movable object. The X-axis measuring module includes a first measuring structure and a first position sensor. The first measuring structure is movable along an X-axis direction and contacted with the ball-shaped structure. The Y-axis measuring module includes a second measuring structure and a second position sensor. The second measuring structure is movable along a Y-axis direction and contacted with the ball-shaped structure. The Z-axis measuring module includes a third measuring structure and a third position sensor. The third measuring structure is movable along a Z-axis direction and contacted with the ball-shaped structure.

Abstract: A heat dissipating system of robot is provided. The heat dissipating system includes a gas supply device and a robot. The gas supply device is configured to provide a high-pressure gas. The robot is in communication with the gas supply device and includes a housing, an inlet and at least one valve. The housing defines an inner space. The inlet is disposed on the housing and is in communication with the gas supply device and the inner space. The at least one valve is disposed on the housing and is in communication with the inner space. The high-pressure gas outputted by the gas supply device is guided into the inner space through the inlet, and the high-pressure gas accommodated in the inner space is released through the at least one valve when the at least one valve is open.

Abstract: A robotic system includes a base and at least one axis actuation module. The base includes an input power conversion device. A power input terminal of the input power conversion device receives an input voltage. The input voltage is converted into a first voltage by the input power conversion device. The first voltage is outputted from a power output terminal of the input power conversion device. The at least one axis actuation module is installed on the base. Each axis actuation module includes a motor, an axis power conversion device and a driving device. The first voltage is converted into a second voltage with a rated voltage value by the axis power conversion device. The second voltage is converted into a third voltage by the driving device. The third voltage is provided to the motor.

Abstract: A heat dissipating system of movable robot is provided. The heat dissipating system includes a movable robot and at least one wind resistance structure. The movable robot includes a housing, at least one airflow passage and plural first air holes. The housing defines an inner space, the airflow passage is disposed in the inner space, and the first air holes are disposed on the housing and are in communication with the airflow passage respectively. When the movable robot moves, an air current is generated accordingly. The air current partially flows into the airflow passage through the first air hole acted as an inlet, and the air current in the airflow passage is released from the first air hole acted as an outlet. The wind resistance structure is configured for guiding the air current into the first air hole acted as the inlet.

Abstract: A heat dissipating system of movable robot is provided. The heat dissipating system includes a movable robot and at least one wind resistance structure. The movable robot includes a housing, at least one airflow passage and plural first air holes. The housing defines an inner space, the airflow passage is disposed in the inner space, and the first air holes are disposed on the housing and are in communication with the airflow passage respectively. When the movable robot moves, an air current is generated accordingly. The air current partially flows into the airflow passage through the first air hole acted as an inlet, and the air current in the airflow passage is released from the first air hole acted as an outlet. The wind resistance structure is configured for guiding the air current into the first air hole acted as the inlet.

Abstract: A heat dissipating system of robot is provided. The heat dissipating system includes a gas supply device and a robot. The gas supply device is configured to provide a high-pressure gas. The robot is in communication with the gas supply device and includes a housing, an inlet and at least one valve. The housing defines an inner space. The inlet is disposed on the housing and is in communication with the gas supply device and the inner space. The at least one valve is disposed on the housing and is in communication with the inner space. The high-pressure gas outputted by the gas supply device is guided into the inner space through the inlet, and the high-pressure gas accommodated in the inner space is released through the at least one valve when the at least one valve is open.

Abstract: A robotic system includes a base and at least one axis actuation module. The base includes an input power conversion device. A power input terminal of the input power conversion device receives an input voltage. The input voltage is converted into a first voltage by the input power conversion device. The first voltage is outputted from a power output terminal of the input power conversion device. The at least one axis actuation module is installed on the base. Each axis actuation module includes a motor, an axis power conversion device and a driving device. The first voltage is converted into a second voltage with a rated voltage value by the axis power conversion device. The second voltage is converted into a third voltage by the driving device. The third voltage is provided to the motor.

Abstract: A motor brake module for braking a motor is provided. The motor includes a shell, a shaft portion and a driving portion. The motor brake module includes a brake assembly, a block assembly and an armature assembly. The brake assembly includes a shaft hole, plural teeth and plural openings. The shaft portion passes through the shaft hole, and the shaft portion drives the brake assembly to rotate when the shaft portion is rotated. The armature assembly is connected with the block assembly for driving the block assembly to move between the armature assembly and the brake assembly. When the block assembly is moved toward the brake assembly, a portion of the block assembly is contacted with one of the plural teeth and the other portion of the block assembly passes through one of the plural openings.

Abstract: The present invention relates to a method for three-dimensional image reconstruction of basal ganglion. A novel geometrical algorithm has been developed to calculate the correction coordinates of the target based on the reference axial shift in the CT scan coordinate system. Furthermore, wavelet transform along with interpolation techniques are used to obtain continuous sectional images and three-dimensional image reconstruction is then performed to form the stereotactic atlas of basal ganglion. Therefore, the stereotactic atlas of basal ganglion established in this invention can be used as references for assisting operation and training for neurosurgeons.