Abstract: The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected.

Abstract: A method for revealing anomalous discontinuity interfaces in pore pressures in non-drilled geological formations and an implementing system.

Abstract: A safety valve for extraction wells, configured to be installed on a well head and to enclose a tubular material portion inserted inside the well. The tubular material is internally hollow to contain and transport substances extracted from the well. The safety valve includes: a central hole through which the tubular material passes; a blocking system configured to keep the tubular material to be cut fixed with respect to the safety valve; a cutting and closing group configured to cut and close the well under certain operative conditions; and a sealing mechanism configured to effect watertight closing of the well, after the cutting. The cutting and closing group includes a hole saw housed in a respective chamber of the cutting and closing group, rotated by a motorized actuator, and configured to move in a controlled mode along a substantially orthogonal direction with respect to a development direction of the well.

Abstract: A process for constructing a well (1) for exploiting an oil or gas reservoir, comprising the following operations: (A) drilling a formation submerged by a water head, at least 3,600 meters deep or more, reaching the formation from the surface of the water with a drilling riser (7), and a drilling tool which passes internally through the drilling riser; and evacuating through the drilling riser (7) at least one of the circulating drilling fluid, the oil or natural gas coming from the formations and the resulting drilling materials. The drilling riser (7) has an external diameter equal to or smaller than 17 inches and reaches a wellhead (3) having an internal diameter equal to or smaller than 18.75 inches, and positioned in correspondence with or close to the seabed submerged which covers the formation.

Abstract: A process for constructing a well (1) for exploiting an oil or gas reservoir, comprising the following operations: (A) drilling a formation submerged by a water head, at least 3, 600 meters deep or more, reaching the formation from the surface of the water with a drilling riser (7), and a drilling tool which passes internally through the drilling riser; and evacuating through the drilling riser (7) at least one of the circulating drilling fluid, the oil or natural gas coming from the formations and the resulting drilling materials. The drilling riser (7) has an external diameter equal to or smaller than 17 inches and reaches a wellhead (3) having an internal diameter equal to or smaller than 18.75 inches, and positioned in correspondence with or close to the seabed submerged which covers the formation.

Abstract: A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.

Abstract: An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

Abstract: The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected.

Abstract: A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a closed-loop controller which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.

Abstract: A roller hemming apparatus for robot-supported roller hemming with a manipulator, as well as with a roller hemming apparatus, is described. The apparatus includes a frame, a first roller and a second roller which, when in operation, contact two opposite sides of a workpiece, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and controlled so that opposing process forces that are applied over the first and the second rollers and that lie approximately along one effective line of force are applied to the workpiece at opposite sides.

Abstract: An artificial finger for prosthetics and gripping technology, with a base, a first finger member mounted on the base in articulated manner, at least one secondary member mounted on the first finger member in articulated manner, and a drive for adjusting the secondary member relative to the first finger member and the first finger member relative to the base. At least one reset element is provided for resetting the first finger member and the secondary member, and the first finger member is acted upon with a resetting force which differs from the secondary member.

Abstract: A method for revealing anomalous discontinuity interfaces in pore pressures in non-drilled geological formations and an implementing system.

Abstract: A device for training coordinative faculties has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate.

Abstract: A method for determining a position of a fluid discharge in an underwater environment, the method including: collecting data relating to an underwater area through at least two acoustic sensors; filtering and processing the data collected to identify the presence of the discharged fluid and the underwater area involved; forming a single stereoscopic image by combining the plurality of single three-dimensional images; and estimating the position of the fluid discharge on the basis of the stereoscopic image thus obtained.

Abstract: A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a closed-loop controller which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.

Abstract: A combined piloting method of remote operated underwater vehicles includes: connecting, to a vertical profile, a constraint device including at least two arms arranged at a reciprocal fixed angular position, each of the at least two docking arms including at a first end a device for the hooking of a remote operated underwater vehicle, the at least two docking arms being constrained at one of their second ends to a device for the sliding and rotating hooking to the vertical profile; connecting at least two remote operated vehicles to the constraint device; detecting the position of the overall structure consisting of the constraint device and remote operated vehicles; detecting the orientation of each of the remote operated vehicles; receiving data relating to the position and orientation to be reached; determining the power required by each remote operated vehicle; and transmitting related commands to each vehicle.

Abstract: A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.

Abstract: A method for the extinction or oil well-killing or killing of an underwater well for the extraction of hydrocarbons under uncontrolled fluid discharge conditions, also called blowout, by assembling, in correspondence with the lower end portion of a string of pipes for the extinction or killing string, a constraint group for rigid connection between a plurality of remote-operated underwater vehicles and the killing string; detecting the position of a flow of fluids and positioning the killing string substantially in correspondence with said flow; lowering a plurality of remote-operated vehicles close to the lower end portion of the killing string; connecting the remote-operated vehicles to the constraint group; detecting in real time the relative position of the flow of fluids with respect to the vehicles and calculating the position of the outlet hole of the flow; on the basis of the calculated position of the outlet hole, coordinately piloting the vehicles so as to bring the lower end of the string in corres

Abstract: The invention relates to a device for moving people or objects for the purposes of play, sport, pedagogy or therapy. Said device consists of a static base surface (2), a mobile surface (1) on which the person to be moved is located, and active, controllable, mechanical adjusting bodies which act between the static and mobile surfaces. Piston-free pneumatic actuators (3) are used for the mechanical adjusting bodies. In this way, the device is essentially more economical, smaller, lighter and more reliable than known comparable devices comprising different active mechanical adjusting bodies.

Abstract: The present invention relates to a method for determining the position of a fluid discharge in an underwater environment comprising the phases which consist in collecting (110) data relating to an underwater area through at least two acoustic sensors (11); filtering and processing (120) the data collected to identify the presence of the discharged fluid and the underwater area involved; forming (130) a single stereoscopic image through joining the plurality of single three-dimensional images; estimating (140) the position of the fluid discharge on the basis of the stereoscopic image thus obtained.