Abstract: The invention relates to a method for determining a position for and positioning a detection device (E) of a navigation system. First, a computer simulation of a system is done that comprises a robot (R) which has first markers (M1) of a navigation system or first prominent points, a three-dimensional object (P) which has second markers (M2) of the navigation system or second prominent points, and a detection device (E) of the navigation system. Various positions of the robot (R), the object (P), and/or the detection device (E) are simulated, and the quality of the detectability of the first markers (M1) or the first prominent points on the robot (R) and/or the second markers (M2) or the second prominent points on the object (P) are automatically determined for the simulated positions by means of the detection device (E). The determined qualities and the corresponding simulated positions and/or the simulated position having the highest or at least a sufficiently high determined quality is/are output.

Abstract: In a method and device for automated welding using a positioning device, in particular a welding robot, a welding pose is occupied by the positioning device in a regulated manner, and the welding pose is flexibly held during the closing of an electrode holder, during the welding process and/or during the opening of the electrode holder.

Abstract: The invention relates to a medical device, a medical work station, and a method for registering an object (P). The medical device comprises a navigation system (17, 18) and a robot (R) having several axes of rotation (1-6). The navigation system (17, 18) comprises a detection device (18) for detecting prominent points on an object (P) or markers (M) placed on the object (P) as well as a processing device (17) for determining the position of the object (P) on the basis of the prominent points or markers (M) detected by means of the detection device (18). The detection device (18) of the navigation system is mounted on the robot (R).

Abstract: An invention-based control system for at least one robot comprises a, especially symmetric, multi-core architecture with a first virtual machine (V1) with at least one computing engine (C3), which has been provided for controlling at least one process application (P) of this robot.

Abstract: The invention relates to a locking device, in particular for a motor vehicle, having a key (10) and a lock cylinder (30), having a cylinder core (32), which is mounted in a rotatable manner in a cylinder housing (31) and has a key channel (33) into which the key (10) can be introduced, having spring-loaded tumbler elements (41, 42), which are mounted such that, when the key (10) is inserted into the key channel (33), they can be displaced radially in relation to the axis (34) of the lock cylinder (30), and having a plurality of outer surfaces (13, 14, 15), which are provided on the key (10), have control tracks (11, 12) and act on the tumbler elements (41, 42) when the key (10) is introduced.

Abstract: The invention relates to a medical work station (1) for treating a living being (13) by means of a medical instrument (1). The work station (1) includes at least one robot arm (3), which has a plurality of members connected by means of joints, drives to move the members, and an attaching device (10), at least one control device (4) coupled with the drives, which is set up to generate signals for actuating the drives, so that the attaching devices (10) carry out movements assigned to the signals, and a display device (6) coupled with the control device (4).

Abstract: There is disclosed a method for enhancing recovery of crude oil from a porous subterranean carbonate formation of which the pore spaces contain crude oil and connate water, the method comprising determining an ionic strength of the connate water; and injecting an aqueous displacement fluid having a lower ionic strength than the connate water into the formation.

Abstract: A method for enhancing recovery of crude oil from a porous subterranean formation of which the pore spaces contain crude oil and connate water comprises:—determining the Ionic Strength (Mol/l) of the connate water; and—injecting an aqueous displacement fluid having a lower Ionic Strength (Mol/l) than the connate water into the formation, which aqueous displacement fluid furthermore has an Ionic Strength below 0.15 Mol/l. FIGS. 13 and 16 and Table 4 demonstrate that injection of an aqueous displacement fluid with lower Ionic Strength than the connate water improves oil recovery (IOR).

Abstract: The invention relates to a robot (R, 70) and to a method for controlling a robot (R, 70). The distance (d) between an object (P) and the robot (R, 70) and/or the derivative thereof or a first motion of the object (P) is detected by means of a non-contact distance sensor (20, 20?) arranged in or on a robot arm (M) of the robot (R, 70) and/or on or in an end effector (19?) fastened on the robot arm (M). The robot arm (M) is moved based on the first motion detected by means of the distance sensor (20, 20?), a target force or a target torque to be applied by the robot (R) is determined based on the distance (d) detected between the object (P) and the robot (R), and/or a function of the robot (R) or a parameterization of a function of the robot (R) is triggered based on the first motion detected and/or a target distance between the object (P) and the robot (R) and/or the derivative thereof detected by means of the distance sensor (20, 20?).

Abstract: A method according to the invention for planning and/or controlling a robot application (1) on the basis of system and/or process parameters (M1, . . . M7, G1, . . . G7, B1, K1, S1, H1, W1, F1, U1, R1), includes these steps: storing parameter values, and planning and/or controlling the application on the basis of stored parameter values, wherein parameters are managed with the aid of a graph structure (FIG. 2).

Abstract: A method for error recognition in a control system of a medical treatment and/or diagnosis device includes processing, by the control system, data in a regular operating mode and supplying, by the control system, test data of a test data record to a safety-critical component of the control system in a test mode of the control system. The safety-critical component of the control system is also checked in the test mode of the control system.

Abstract: A lock device having a key and a lock cylinder. The lock cylinder includes a fixed cylinder housing and a cylinder core mounted to rotate therein. The key shaft (10.3) has an edge profile and may be inserted in a key way of the cylinder core in which displaceable tumblers (41, 42) are located transverse to the above. The key shaft (10.3) has profiled recesses running in the longitudinal direction. The recesses have a pair of follow points for each tumbler (41, 42) for coding the key, whilst the tumbler (41. 42) has a pair of counter follow points which are the basis of the corresponding counter coding. A space-saving design of the lock device is achieved with a large range of variation for the coding wherein both follow points are on the key shaft (10.3) in the form of recesses, arranged on opposing lateral surfaces to an edge (57.2; 57.3) of the edge profile of the key shaft (10.3). A web (22: 23) is thus generated in the corner region of the edge profile between both recesses.

Abstract: The invention relates to a sterile barrier (S) for a surgical robot (1) comprising at least one joint (12 . . . 15) with two opposing joint members (40, 42) that rotate relative to one another about a common joint axis (16 . . . 19) and a torque sensor (29) comprising: at least two sterile barrier sections (24 . . . 28) each with an end section (38, 39) for sealed attachment to a respective joint end section (41, 43) of the joint member (40, 42); and a sealing arrangement (30) for producing a sterile and sealed rotating connection of the end sections (38, 39) of the at least two sterile barrier sections (24 . . . 28); and a surgical robot (1).

Abstract: The invention relates to a robot (R), a medical work station, and a method for projecting an image (20) onto the surface of an object (P). The robot (R) comprises a robot arm (A) and a device (18) for projecting the image (20) onto the surface of the object (P), said device (18) being mounted on or integrated into the robot arm (A).

Abstract: In a method and device for automated welding using a positioning device, in particular a welding robot, a welding pose is occupied by the positioning device in a regulated manner, and the welding pose is flexibly held during the closing of an electrode holder, during the welding process and/or during the opening of the electrode holder.

Abstract: In a method and device to control a positioning device, in particular a welding robot, for welding with an electrode holder and at least one force detection device to detect reaction forces at the electrode holder, a sum of reaction forces on the electrode holder; and the pose of the positioning device is regulated on the basis of the determined sum of reaction forces.

Abstract: The invention relates to a medical device, a medical work station, and a method for registering an object (P). The medical device comprises a navigation system (17, 18) and a robot (R) having several axes of rotation (1-6). The navigation system (17, 18) comprises a detection device (18) for detecting prominent points on an object (P) or markers (M) placed on the object (P) as well as a processing device (17) for determining the position of the object (P) on the basis of the prominent points or markers (M) detected by means of the detection device (18). The detection device (18) of the navigation system is mounted on the robot (R).

Abstract: The invention relates to a method for determining a position for and positioning a detection device (E) of a navigation system. First, a computer simulation of a system is done that comprises a robot (R) which has first markers (M1) of a navigation system or first prominent points, a three-dimensional object (P) which has second markers (M2) of the navigation system or second prominent points, and a detection device (E) of the navigation system. Various positions of the robot (R), the object (P), and/or the detection device (E) are simulated, and the quality of the detectability of the first markers (M1) or the first prominent points on the robot (R) and/or the second markers (M2) or the second prominent points on the object (P) are automatically determined for the simulated positions by means of the detection device (E). The determined qualities and the corresponding simulated positions and/or the simulated position having the highest or at least a sufficiently high determined quality is/are output.

Abstract: In a retention device, a medical robot and a method to set the tool center point of a medical robot, the retention device has a fixing device to fix the head of a person held by the retention device. The fixing device provides an indication of the position of the openings of the auditory canals of the ears of the person relative to the retention device based on the relation between the fixing device and the head of the person and the relation between the fixing device and the retention device.

Abstract: A locking device having a locking cylinder and a key. The locking cylinder includes a cylinder core with tumblers in a cylinder core, which is rotatably mounted in a cylinder housing. Standard coding for the key is produced by a step with longitudinal profiling on at least one flat side of the edge profile of the key, said step being associated with a counter step on the tumbler. In addition to the standard coding produced by step and counter step, the key has at least one set of beveled edge coding in a corner section of the edge profile. The beveled edged coding consists of recesses in the form of beveled cuts in the corresponding corner sections of the edge profile, relative to which are provided counter touching points in the corresponding tumbler. In a section of the key shaft, either the standard coding or beveled edge coding can optionally be used, thereby considerably increasing the diversity of the locking device while retaining the space-saving design.