Abstract: Using a suction gripper cluster device is disclosed, including: causing airflows to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device comprising a plurality of suction gripper mechanisms, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the respective plurality of suction gripper mechanisms in response to receiving air at a respective air input port of the respective plurality of suction gripper mechanisms; causing a target object to be captured by the suction gripper cluster device using the airflows; activating a positioning actuator mechanism to position the suction gripper cluster device; and causing the target object to be ejected from the suction gripper cluster device.

Abstract: The invention relates to fitting a curve to a plurality of data points. A “seed curve” is determined from a first set of data points selected from the plurality of data points. From the remaining data points, data points are individually selected and a determination is made for each selected data point as to whether the data point is acceptable to be included with the first set of data points. When a data point is determined to be acceptable, the data point is included with the first set of data points to form another set of data points. After each of the other data points are evaluated for inclusion with the first set of data points, a best fit curve is determined from a final set of data points.