Abstract: The invention relates to a method for controlling an automated work cell (2) including at least one robot arm (4) with at least three degrees of freedom (A1-A6), a programmable logic controller (6) suitable for developing a trajectory order (Om) based on an instruction to perform a trajectory of an application programmed in the programmable logic controller, a robot controller (10), suitable for steering the movement of the robot arm (4), and a communication bus (5) between the programmable logic controller (6) and the robot controller (10).

Abstract: Pulley device for a rotary machine, and in particular a compressor, comprising a pulley, a rolling bearing, a torque transmission plate having an axial sleeve designed to be mounted on a rotary spindle of the rotary machine and a radial plate extending radially from the axial sleeve and having the general shape of a disc, said pulley being mounted on an outer ring of the rolling bearing and on the torque transmission plate, the torque transmission plate being able to transmit a rotational movement from the pulley to the rotary spindle. Said pulley device comprises a damping element located between the pulley and the torque transmission plate.

Abstract: A method for controlling an automated work cell which includes at least one robot arm having at least three degrees of freedom controlled according to a plurality of control axes; a control center; a device for controlling the robot arm which includes a plurality of motor controllers each controlling operation of one motor and suitable for operating at least one portion of the robot arm; and a communication bus between the control center and the device for controlling the robot arm; wherein the method includes steps of: a) sending instructions emitted by the control center to control the control axes to a single arithmetic unit belonging to the device for controlling the robot; b) determining, within the arithmetic unit and according to instructions received from the orders for each of the motors controlled by a motor controller; and c) sending each motor controller an order, determined in step b), for the motor controlled by each motor controller.

Abstract: Pulley device for a rotary machine, and in particular a compressor, comprising a pulley, a rolling bearing, a torque transmission plate having an axial sleeve designed to be mounted on a rotary spindle of the rotary machine and a radial plate extending radially from the axial sleeve and having the general shape of a disc, said pulley being mounted on an outer ring of the rolling bearing and on the torque transmission plate, the torque transmission plate being able to transmit a rotational movement from the pulley to the rotary spindle. Said pulley device comprises a damping element located between the pulley and the torque transmission plate.

Abstract: The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1 -M6) along one axis, suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4).

Abstract: The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4).

Abstract: The robot comprises: —a controller (C), including power modules (22) for supplying the motors (10) of the arm (A) of the robot (R), a CPU unit (26), for calculation and processing and connection means (52, B), between the arm (A), the power modules (22) and the CPU unit (26). The connection means (52, B) comprise a single functional bus (B) which connects a control unit (30), associated with the CPU unit (26), firstly to the power modules (22) and, also, to the digital interfaces (14) with the sensors (12) of the arms (A). Said interfaces (14) are either integrated with the arm (A) or located in the immediate vicinity thereof.

Abstract: The robot comprises: a controller (C), including power modules (22) for supplying the motors (10) of the arm (A) of the robot (R), a CPU unit (26), for calculation and processing and connection means (52, B), between the arm (A), the power modules (22) and the CPU unit (26). The connection means (52, B) comprise a single functional bus (B) which connects a control unit (30), associated with the CPU unit (26), firstly to the power modules (22) and, also, to the digital interfaces (14) with the sensors (12) of the arms (A). Said interfaces (14) are either integrated with the arm (A) or located in the immediate vicinity thereof.

Abstract: A global motion estimation method between an incoming frame F(n) of a sequence of frames and a large static image M(n−1), which is constructed from previous frames F(1), F(2), . . . , F(n−1) of the video sequence, uses a motion model based on a two-dimensional perspective transform that contains eight motion parameters. The eight motion parameters are the coordinates of the four vertices of the incoming frame. The motion estimation method enables any displacement of the four corners of the original rectangular image to fit the next one by optimizing a cost function. Useful applications include those related to MPEG-4 and, more especially, to MPEG-7 standard, such as sprite generation or mosaicing.

Abstract: The invention relates to a method and device for generating a large static image M(n), such as a sprite or a mosaic, from a video sequence including successive video objects. This method comprises a first step for estimating motion parameters related to the current video object V0(n) of the sequence with respect to the previously generated static image M(n−1), a second step for warping this video object on the basis of the estimated motion parameters, a third step for blending the warped video object thus obtained with the previously generated static image M(n−1), and a fourth step for computing, for each picture element of the current video object, a weighting coefficient WWF(n)[x,y] correlated to the error between the warped video object and the static image M(n−1), the blending formula then taking into account said weighting coefficients.

Abstract: The invention relates to a method and device for generating a large static image M(n), such as a sprite or a mosaic, from a video sequence including successive video objects. This method comprises a first step for estimating motion parameters related to the current video object V0(n) of the sequence with respect to the previously generated static image M(n−1), a second step for warping this video object on the basis of the estimated motion parameters, and a third step for blending the warped video object WV0(n) thus obtained with the previously generated static image M(n−1). According to the invention, an additional step for computing, for each picture element of the current video object, a weighting coefficient wWF(n)[x,y] correlated to the error between the warped video object and the static image M(n−1) is provided, and the blending formula now takes into account said weighting coefficients.

Abstract: The invention relates to a method for generating a large static image M(n), such as a sprite or a mosaic, from a video sequence. This method first comprises, in view of a first accretion step, an estimation of the motion parameters related to the video objects of the sequence, with respect to the previously generated static image. Each video objects is then warped on the basis of said parameters, and the warped video objects are blended with the previously generated static image. According to the invention, said method also comprises (n−1) further accretion steps, but applied this time to the same video sequence considered in the reverse order. Each additional accretion step itself includes a warping sub-step, based on each successive video object considered in said reverse order and on the corresponding motion parameters already estimated, and a blending sub-step, pixel-based or region-based weighting coefficients being then computed in order to be taken into account during the blending steps.

Abstract: The present invention relates to a process for the synthesis of isocyanates and of isocyanate derivatives. Isocyanates are obtained by reacting an organic halide with a metal cyanate in an organic medium in the presence of a catalyst consisting of a complex of nickel with at least one organic ligand, in which complex the nickel is in the zero oxidation state.A carbamate or a urea, respectively, are obtained by a subsequent reaction with a hydroxy compound or a primary or secondary amine.Isocyanates and their derivatives are used especially either as refined synthesis agents for the production of pesticides and medications, or as monomers or comonomers for the preparation of many macromolecular compounds.

Abstract: The present invention relates to a process for the synthesis of isocyanates and of isocyanate derivatives. Isocyanates are obtained by reacting an organic halide with a metal cyanate in an organic medium in the presence of a catalyst consisting of a complex of nickel with at least one organic ligand, in which complex the nickel is in the zero oxidation state.A carbamate or a urea, respectively, are obtained by a subsequent reaction with a hydroxy compound or a primary or secondary amine.Isocyanates and their derivatives are used especially either as refined synthesis agents for the production of pesticides and medications, or as monomers or comonomers for the preparation of many macromolecular compounds.

Abstract: A process and an apparatus for epitaxy in a gaseous phase, producing thin and homogeneous layers of monocrystalline indium phosphide. The process comprises two steps. In the first step, the phosphine is decomposed in a pyrolysis chamber which extends through a kiln in accordance with the reaction: ##EQU1## Thereafter, in a second step, the phosphorus is reacted with triethylindium in an atmosphere of hydrogen and nitrogen: ##EQU2## The residual gases are drawn off by a vacuum pump.