Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.

Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

Abstract: The present disclosure relates to a gripping apparatus mounted to a robot arm for controllably placing an object on a surface. A gripper assembly supports a pair of gripping clamps which are configured to grip and release the object. The gripper assembly is mounted to the robot arm via a connector body. A sensor is configured to either measure a relative movement between the gripper assembly and the connector body, or to measure a force between the gripper assembly and the connector body. A controller is configured to stop the robot arm when the sensor indicates the measured relative movement or measured force exceeds a predefined threshold.

Abstract: This application relates to methods and apparatus for voltage control, and in particular to maintain safe voltages for components of audio driving circuits that are operable in a high voltage mode. An audio driving circuit (100) may include a power supply module (106) and may be operable such that, in use, a voltage magnitude at a source terminal of at least a first transistor (306, 309, 603, 605) of the audio driving circuit can exceed its gate-source voltage tolerance. A voltage generator (111 P) is configured to output a first intermediate voltage (VSAFEP) to an intermediate voltage path for use as a gate control voltage for at least the first transistor, to maintain its gate-source voltage below tolerance. An intermediate path voltage clamp (114P) is provided for selectively clamping the intermediate voltage path to a voltage level, so as to maintain the magnitude of the gate-source voltage of the first transistor below tolerance.

Abstract: The present disclosure relates to a gripping apparatus for controllably placing an object, the gripping apparatus including: a gripper assembly mounted to a robot arm via a connector body, the gripper assembly including a housing that supports one or more gripper drive assemblies operatively coupled to a pair of opposing gripping clamps, and in use the robot arm is configured to drive the gripper assembly along a placement axis towards a placement surface via the connector body; a sensor configured to either measure a relative movement between the gripper assembly and the connector body or to measure a force between the gripper assembly and the connector body, wherein the sensor generates a sensor output signal based on the measurement; and, a controller configured to send a stop signal to the robot arm to stop further drive of the gripper assembly along the placement axis when the sensor output signal indicates the measured relative movement or measured force exceeds a predefined threshold.

Abstract: This application relates to methods and apparatus for voltage control, and in particular to maintain safe voltages for components of audio driving circuits that are operable in a high voltage mode. An audio driving circuit (100) may include a power supply module (106) and may be operable such that, in use, a voltage magnitude at a source terminal of at least a first transistor (306, 309, 603, 605) of the audio driving circuit can exceed its gate-source voltage tolerance. A voltage generator (111 P) is configured to output a first intermediate voltage (VSAFEP) to an intermediate voltage path for use as a gate control voltage for at least the first transistor, to maintain its gate-source voltage below tolerance. An intermediate path voltage clamp (114P) is provided for selectively clamping the intermediate voltage path to a voltage level, so as to maintain the magnitude of the gate-source voltage of the first transistor below tolerance.

Abstract: This application relates to methods and apparatus for voltage control, and in particular to maintain safe voltages for components of audio driving circuits that are operable in a high voltage mode. An audio driving circuit (100) may include a power supply module (106) and may be operable such that, in use, a voltage magnitude at a source terminal of at least a first transistor (306, 309, 603, 605) of the audio driving circuit can exceed its gate-source voltage tolerance. A voltage generator (111P) is configured to output a first intermediate voltage (VSAFEP) to an intermediate voltage path for use as a gate control voltage for at least the first transistor, to maintain its gate-source voltage below tolerance. An intermediate path voltage clamp (114P) is provided for selectively clamping the intermediate voltage path to a voltage level, so as to maintain the magnitude of the gate-source voltage of the first transistor below tolerance.

Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

Abstract: Systems and methods for 2D image and spatial data capture for 3D stereo imaging are disclosed. The system utilizes a cinematography camera and at least one reference or “witness” camera spaced apart from the cinematography camera at a distance much greater that the interocular separation to capture 2D images over an overlapping volume associated with a scene having one or more objects. The captured image data is post-processed to create a depth map, and a point cloud is created form the depth map. The robustness of the depth map and the point cloud allows for dual virtual cameras to be placed substantially arbitrarily in the resulting virtual 3D space, which greatly simplifies the addition of computer-generated graphics, animation and other special effects in cinemagraphic post-processing.

Abstract: Systems and methods for 2D image and spatial data capture for 3D stereo imaging are disclosed. The system utilizes a cinematography camera and at least one reference or “witness” camera spaced apart from the cinematography camera at a distance much greater that the interocular separation to capture 2D images over an overlapping volume associated with a scene having one or more objects. The captured image data is post-processed to create a depth map, and a point cloud is created form the depth map. The robustness of the depth map and the point cloud allows for dual virtual cameras to be placed substantially arbitrarily in the resulting virtual 3D space, which greatly simplifies the addition of computer-generated graphics, animation and other special effects in cinemagraphic post-processing.

Abstract: Systems and methods for 2D image and spatial data capture for 3D stereo imaging are disclosed. The system utilizes a cinematography camera and at least one reference or “witness” camera spaced apart from the cinematography camera at a distance much greater that the interocular separation to capture 2D images over an overlapping volume associated with a scene having one or more objects. The captured image data is post-processed to create a depth map, and a point cloud is created form the depth map. The robustness of the depth map and the point cloud allows for dual virtual cameras to be placed substantially arbitrarily in the resulting virtual 3D space, which greatly simplifies the addition of computer-generated graphics, animation and other special effects in cinemagraphic post-processing.

Abstract: Systems and methods for 2D image and spatial data capture for 3D stereo imaging are disclosed. The system utilizes a cinematography camera and at least one reference or “witness” camera spaced apart from the cinematography camera at a distance much greater that the interocular separation to capture 2D images over an overlapping volume associated with a scene having one or more objects. The captured image date is post-processed to create a depth map, and a point cloud is created form the depth map. The robustness of the depth map and the point cloud allows for dual virtual cameras to be placed substantially arbitrarily in the resulting virtual 3D space, which greatly simplifies the addition of computer-generated graphics, animation and other special effects in cinemagraphic post-processing.

Abstract: An apparatus and method for the improved combined edge bead removal and backside wash of spin coated semiconductor wafers is disclosed. This is preferably accomplished by providing a nozzle having a plurality of outlets adapted for the ejection of a cleaning fluid onto the backside of a semiconductor wafer. This cleaning fluid can be EEP or a similar EBR type of solvent. This dual outlet nozzle can be mounted to a stationary EBR arm, and preferably comprises two outlets located on a beveled top surface that are separated at a predetermined angle. The angle of this beveled top surface with respect to a horizontal plane of the processed wafer is preferably about 45 degrees, while the angle of each nozzle outlet with respect to a primary axis of the stationary EBR arm is also preferably about 45 degrees. Other angles are also possible in order to maximize solvent jet efficiency.

Abstract: A rotary press is supported on a frame allowing liquid and solid receivers to be placed underneath the rotary press. The rotary press has an outer ring and an inner drum. The inner drum has an upper and lower flange with a stripper ring retained between these flanges. The flanges form two sides of the cavity where the pressing takes place. The flanges carry the solids away from the pressing zone to a discharge zone where the stripper ring expels the solids. By transporting the solids away from the pressing zone where liquids are expelled, reabsorption of the liquid is avoided. The stripper ring can move relative to the two flanges and is biased against the outer ring by the inner ring. The stripper ring applies pressure to the material to be processed and also pushes solid material from between the upper and lower flanges to fall into a receiver for the solids.