Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.

Abstract: The present invention is directed to plants having increased resistance to an imidazolinone herbicide. More partitularly, the present invention includes wheat plants and triticale plants containing at least one IMI nucleic acid such as an imidazolinone resistant Brookton BR-8 or Krichauff K-42 cultivar. The present invention also includes seeds produced by these wheat plants and triticale plants and methods of controlling weeds in the vicinity of these wheat plants.