Abstract: A method of controlling an industrial device including a manipulator, the method including providing a plurality of consecutive target points for the manipulator; providing a plurality of alternative zone groups, where each zone group includes at least one zone associated with a target point; for each zone group, evaluating a performance value of a performance parameter of the industrial device, the performance parameter being associated with execution by the manipulator of a movement path associated with the target points and the at least one zone; selecting one of the zone groups based on the evaluation; and controlling the industrial device based on the selected zone group, the control including executing the movement path associated with the selected zone group by the manipulator. A control system and an industrial device are also provided.

Abstract: A semiconductor radiation detector includes: a semiconductor block of a first conductivity type and including majority charge carriers of a first polarity; an electrode embedded on a surface of the semiconductor block, the electrode including a collector embedded on a front surface of the semiconductor block and further electrodes arranged to generate an electric field within the semiconductor block for driving charge carriers of the first polarity generated therein due to incident radiation towards the collector; a radiation entrance window receiving the incident radiation, arranged to cover at least portion of a back surface of the semiconductor block opposite its front surface; and layers having a net charge of the first polarity and substantially covering at least one side surface of the semiconductor block to induce an electric field for passivating the at least one side surface of the semiconductor block so as to reduce leakage currents arising therein.

Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

Abstract: A method of calibrating a manipulator of an industrial robot, the method including providing a primary manipulator having one or more primary joints and a primary mounting interface; providing a secondary manipulator having one or more secondary joints and a secondary mounting interface, where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state; for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the

Abstract: A method of handling a manipulator of an industrial robot, the manipulator including a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the method including providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path; receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain; and calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed. A control system and an industrial robot are also provided.

Abstract: A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

Abstract: Disclosed is a header for a radiation detector assembly provided for mounting a detector head into an enclosure formed by the header and a detector can to form the radiation detector assembly. The detector head includes a semiconductor radiation detector arranged on a first side of a substrate and a thermoelectric cooler, TEC, arranged on a second side of the substrate, the header including: a base plate having a first side for mounting the TEC and a second side with an attachment mechanism for attaching the radiation detector assembly to a radiation-detecting appliance; contact pins that provide electrical coupling through the base plate protruding from the first side of the base plate to substantially define a rim for accommodating the TEC within the rim; and a draining outlet with an opening through the base plate between its first and second sides transferring a gas to and/or from the enclosure.

Abstract: Disclosed preamplifier circuit comprises amplifier arranged in first current path between input node and output node of the preamplifier circuit. Feedback capacitor is arranged in second current path between said input and output nodes. Feedback circuit having adjustable transfer function is arranged in third current path between said input and output nodes. Reset switch arranged in said third current path enables selectively coupling output of the feedback circuit to input of the amplifier and decoupling output of the feedback circuit from input of the amplifier. Loop controller is arranged selectively, in dependence of voltage in the preamplifier circuit, one of open reset switch to set preamplifier circuit in normal operating mode and close reset switch to set preamplifier circuit in reset mode. Loop controller is arranged to adjust the transfer function of the feedback circuit at least in part in dependence of the current operating mode of the preamplifier circuit.

Abstract: In accordance with an example embodiment, a preamplifier circuit is provided, the preamplifier circuit comprising an amplifier arranged in a first current path between an input node and an output node of the preamplifier circuit; a feedback capacitor arranged in a second current path between said input node and said output node; a feedback circuit having an adjustable transfer function arranged in a third current path between said input node and said output node; a reset switch arranged in said third current path to enable selectively coupling the output of the feedback circuit to the input of the amplifier and decoupling the output of the feedback circuit from the input of the amplifier; and a loop controller arranged to selectively, in dependence of a voltage in the preamplifier circuit, one of open the reset switch to set the preamplifier circuit in a normal operating mode and close the reset switch to set the preamplifier circuit in a reset mode, wherein the loop controller is arranged to adjust the trans

Abstract: A flexible layered fabric sheet comprising a porous front layer and a pre-seeded substrate layer, where the seeds are in-between the two layers (rather than at the back of the substrate layer), for supporting root growth, the two layers together having an upper and lower edge and being attached together with one or more non-continuous seams between the upper and lower edges, which seams have a component of direction parallel to the upper and/or lower edge, and wherein the non-continuous seams enable water to exit the layered fabric sheet at its lower edge, and the non-continuous seams further serve to slow water flow through the water sheet. The seams also serve to keep the two layers from separating which would hamper the penetration of the sapling through the front porous layer, and thus stunt growth.

Abstract: A method of calibrating a tool of an industrial robot, the method including positioning a tool center point of the tool in relation to a reference target in at least one calibration position of the robot; for each calibration position, recording a joint position of at least one joint of the robot; calculating tool data based on the at least one joint position in each calibration position and based on a kinematic model of the robot, the tool data including a definition of the tool center point; determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot based on the error to reduce the error. A control system for calibrating a tool of an industrial robot and an industrial robot including the control system, are also provided.

Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

Abstract: Disclosed is a semiconductor radiation detector assembly including a detector chip having a front side for receiving radiation and a back side; and a flexible substrate including a center portion having its front side attached to the back side of the detector chip and a plurality of strips extending from the center portion and bent to protrude away from the detector chip, wherein the flexible substrate includes a plurality of conductive tracks that extend on a surface of the strips from the center portion towards lateral ends of the strips for electrical coupling and mechanical attachment to one of a plurality of contact pins, and wherein the detector chip is electrically coupled to at least one of the conductive tracks.

Abstract: A shear pin for calibrating an industrial robot, the shear pin including an elongated body including a weakening defining a break location in case of overload. The shear pin is configured to be mounted to a calibration pin holder on the robot. A maximum force that the calibration pin can exert on the robot during calibration can be easily limited by dimensioning the weakening appropriately.

Abstract: A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

Abstract: Disclosed is a semiconductor radiation detector assembly including a detector chip having a front side for receiving radiation and a back side; and a flexible substrate including a center portion having its front side attached to the back side of the detector chip and a plurality of strips extending from the center portion and bent to protrude away from the detector chip, wherein the flexible substrate includes a plurality of conductive tracks that extend on a surface of the strips from the center portion towards lateral ends of the strips for electrical coupling and mechanical attachment to one of a plurality of contact pins, and wherein the detector chip is electrically coupled to at least one of the conductive tracks.

Abstract: A flexible layered fabric sheet comprising a porous front layer and a pre-seeded substrate layer, where the seeds are in-between the two layers (rather than at the back of the substrate layer), for supporting root growth, the two layers together having an upper and lower edge and being attached together with one or more non-continuous seams between the upper and lower edges, which seams have a component of direction parallel to the upper and/or lower edge, and wherein the non-continuous seams enable water to exit the layered fabric sheet at its lower edge, and the non-continuous seams further serve to slow water flow through the water sheet. The seams also serve to keep the two layers from separating which would hamper the penetration of the sapling through the front porous layer, and thus stunt growth.

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

Abstract: A shear pin for calibrating an industrial robot, the shear pin including an elongated body including a weakening defining a break location in case of overload. The shear pin is configured to be mounted to a calibration pin holder on the robot. A maximum force that the calibration pin can exert on the robot during calibration can be easily limited by dimensioning the weakening appropriately.

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.