Abstract: A robot motion program generating apparatus generates a motion program for moving a robot, avoiding an obstacle. The apparatus comprises a section inputting a taught trajectory of the robot, a section setting a tolerance region around the trajectory inputted by the trajectory inputting section, a section setting a motion-point group that is a collection of the motion points, by determining motion points of the robot in the tolerance region set by the region setting section, and iterating a task of connecting a source motion point to a subsequent motion point through a line segment, avoiding the obstacle, starting from one end and ending at the other end of the trajectory, and a section generating the motion program, based on the motion-point group set by the point-group setting section.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model; a posture condition setting unit 16 that sets a condition related to a posture taken by the workpiece model, as a posture condition, when the workpiece model set by the workpiece model setting unit 11 is disposed in a virtual work space as a virtually formed work space; a bulk pile data generating unit 20 that generates bulk pile data of the plurality of workpiece models piled up in the virtual work space, in accordance with the posture condition set by the posture condition setting unit 16; and a picking motion simulating unit 30 that executes a picking motion simulation for verifying the picking motion of the workpiece models in the virtual work space, with respect to the bulk pile data generated by the bulk pile data generating unit 20.

Abstract: A robot setting apparatus includes a positioning unit that adjusts a position and an attitude of a workpiece model, and a grip position specifying unit that specifies a grip position at which the workpiece model is gripped by an end effector for at least one fundamental direction image in a state of displaying at least three height images in which the workpiece model positioned by the positioning unit on the virtual three-dimensional space is viewed from respective axis directions of three axes orthogonal to each other on the display unit as fundamental direction images.

Abstract: A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.

Abstract: An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.

Abstract: A robot system including a master device configured to receive a manipulating instruction from an operator and transmit the received manipulating instruction as a manipulating input signal, a plurality of slave robots configured to operate according to the manipulating input signal transmitted from the master device, a management control device configured to manage operations of the plurality of slave robots, respectively, and an output device configured to output information transmitted from the management control device. The management control device determines a priority of transmitting the manipulating input signal from the master device to the slave robot among the plurality of slave robots that are in a standby state of the manipulating input signal, and transmits information related to the determined priority to the output device. Thus, the operator is able to efficiently transmit the manipulating input signal to the plurality of slave robots through the master device.

Abstract: A method for fine-grained object recognition in a robotic system is disclosed that includes obtaining an image of an object from an imaging device. Based on the image, a deep category-level detection neural network is used to detect pre-defined categories of objects. A feature map is generated for each pre-defined category of object detected by the deep category-level detection neural network. Embedded features are generated, based on the feature map, using a deep instance-level detection neural network corresponding to the pre-defined category of the object, wherein each pre-defined category of an object comprises a corresponding different instance-level detection neural network. An instance-level of the object is determined based on classification of the embedded features.

Abstract: A robot system is provided in which various kinds of articles can be treated only with a small number of articles registered in advance, and an unknown article can be further treated as long as the article has a shape close to that of the article registered in advance. A robot system is disclosed which includes: a mechanism unit that manipulates an article to be manipulated; a shape measurement unit that measures a shape of an object; a basic operation storage unit that stores basic operation representing basic operation of the mechanism unit; an operation method calculation unit that deforms the stored basic operation to calculate an operation method on the basis of the shape of the object measured by the shape measurement unit; and a control unit that executes a control of the mechanism unit on the basis of the operation method calculated by the operation method calculation unit.

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

Abstract: A robot main body having a robotic arm, a remote control device which includes a robotic arm operational instruction input part installed outside of a working area and by which an operational instruction for the robotic arm is inputted, and a contactless action detecting part configured to detect a contactless action including at least one given operating condition parameter change instructing action by an operator, a control device communicably connected to the remote control device and configured to control operation of the robot main body.

Abstract: A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.

Abstract: An industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body having a robot arm, a robot control device configured to control operation of the robot main body and an abnormal state detecting device configured to detect abnormality in a work state of the robot main body. The robot control device includes an automatic operation performing means for controlling the operation of the robot main body to perform an automatic operation based on a given operation program, and an automatic operation correcting means for correcting the operation of the robot main body in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device.

Abstract: A system utilizes electroadhesive surfaces for braking and metering objects in an automated environment. An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. The systems described utilize various configurations of electroadhesive surfaces, sensors, controllers and programmable processors to create smart braking, capturing and metering systems for improved automated material handling.

Abstract: An apparatus for clamping a robotically controlled tool to a workpiece comprises a tool support mountable on a robotic arm and configured to support the tool, a plurality of clamping modules, each of which includes at least one vacuum cup arranged to clamp the tool support to the workpiece, and an adjustment mechanism configured to adjust the position of the tool support relative to the workpiece.

Abstract: In an approach to non-functional requirement testing of a robot, a computer determines one or more kinematic actions included in a received command. The computer determines at least one component of the robot included in an operation of the one or more kinematic actions. The computer determines at least one agent associated with the at least one component of the robot included in the one or more kinematic actions. The computer sends the one or more kinematic actions to the robot. In response to the robot performing the one or more kinematic actions, the computer receives, from the at least one agent, at least one characteristic of the performed one or more kinematic actions associated with the at least one component of the robot included in the one or more kinematic actions. The computer, based on the received at least one characteristic, generates one or more test results.

Abstract: Handling device for an apparatus for the additive manufacture of three-dimensional objects, which handling device is equipped to handle an additively manufactured three-dimensional object, comprising: a handling chamber, which comprises a handling chamber interior delimited by one or more handling chamber walls, wherein at least one handling chamber wall comprises an access opening allowing access, in particular for a user, into the handling chamber interior, wherein the at least one access opening is openable and closable via a thereto assigned sliding-door-like closure element, which is mounted such that it is slidingly movable in a vertical direction between an open setting, in which the sliding-door-like closure element opens up the at least one access opening, and a closed setting, in which the sliding-door-like closure element closes off the access opening, relative to the handling chamber wall comprising the access opening.

Abstract: The folding knife includes a removable thumb stud slidably mounted on the blade to be selectively positioned along the length of the blade's spine. The thumb stud includes a flat button head and a pair of spaced legs that terminate with an in-turned foot. The blade has a channel cut into the flats on both sides of the blade, which act as tracks for the thumb stud. The opposed feet shiftably seat within the channels and allow the thumb stud to be selectively positioned along the length of the blade spine.

Abstract: A safety box cutter is provided. The box cutter includes a handle including two hollow parts which are complementary to each other, wherein the outer surfaces of the two hollow parts are rubber coated. The box cutter also includes a trapezoid blade comprising a holding mechanism, wherein the holding mechanism includes a housing. The two hollow parts of the handle are configured to be mounted together to form a front opening and a space for the housing of the holding mechanism of a trapezoid blade. The housing of the holding mechanism of a trapezoid blade is formed of two hollow and complementary parts, and the two hollow and complementary parts of the housing are smaller than the handle. One of the hollow and complementary parts of the housing includes an outer wall that has an undercut area designed to accommodate a slider and a respective spring.

Abstract: The present invention relates to a cutting blade such as a kitchen knife blade. The cutting blade comprises a cutting edge, a spine and opposite side surfaces. A tapered portion of the blade extends longitudinally and adjacent to the cutting edge in which a thickness of the blade defined as a transverse distance between the opposite side surfaces tapers towards the cutting edge. The cutting blade includes one or more broad recesses provided in one or more side surfaces of the blade, wherein at least one of the broad recesses is bounded at vertically opposite sides by the tapered portion and the spine and at longitudinally opposite sides by narrow supporting elements extending from the spine to the tapered portion. Embodiments of the cutting blade have a substantially reduced average wedge thickness which reduces cutting resistance to due to the wedging effect.

Abstract: A utility scissors assembly structured to facilitate the cutting and/or punching a hole in a material item, through the provision of a combination scissors device and a retractable punch mechanism. A utility scissors assembly includes two pivotally connected utility members pivotable between a open and a closed position, each including a blade portion and a handle portion. The punch mechanism may be connected to a utility member and pivotable thereon into and out of an exposed, operative orientation corresponding to the utility member. The second utility member may include an aperture disposed and structured to engage and receive the correspondingly aligned punch mechanism, at least when the punch mechanism is in the operative orientation and the utility members are in the closed position.

Abstract: The illuminated haircutting shears includes a pair of cutting blades, a light source, a light strip, and an energy source in communication with the light source. A microcontroller and an accelerometer positioned in communicating relation with the microcontroller may also be provided. In use, the accelerometer generates acceleration signals which are communicated to the light strip via the microcontroller. In response, a respective color of light illuminates to indicate the position of the shears, e.g., 0° (e.g. horizontal), 45° (e.g. diagonal), or 90° (e.g. vertical).

Abstract: The present invention generally relates to a wearable cutting device. Specifically, the present invention relates to a cutting device that can be worn over the finger, so that simply by movement of the finger, cutting action may occur upon contact with a surface.

Abstract: A cutting apparatus for cutting an item supported by a surface, comprising a knife (1) comprising a blade (2), a blade support means (3), and an alignment guide (4), having an arm (7) pivotally attached to the knife and a surface contacting means (8) extending in a direction substantially perpendicular to the longitudinal plane of the knife and adapted to contact the surface in front of the blade, in the cutting direction so that, in use, the alignment guide can move with the blade, as the blade cuts into an item whereby if the knife tilts or tends to tilt, this is resisted by virtue of the alignment guide or, if the resistance is overcome, is reduced by raising of one or other lateral edges of the surface contacting means.

Abstract: Systems and methods are provided for scraping tools for edging composite parts. One embodiment is an apparatus that includes a scraping tool. The scraping tool includes a base member, a first wall upwardly extending from a first side of the base member, a second wall upwardly extending from a second side of the base member, and a channel defined by the base member, the first wall, and the second wall. The scraping tool further includes a first blade mount within the channel that is fixed to the first wall, and a second blade mount within the channel that is fixed to the second wall. The first blade mount secures a blade oriented oblique to the base member, and the second blade mount secures a blade oriented oblique to the base member.

Abstract: A drum-type wood chipper for processing wood includes a chipper drum that is adapted to rotate about a generally horizontal drum axis, a plurality of cutting blades that are disposed around the periphery of the chipper drum, and an engine that is adapted to rotate the chipper drum about the drum axis. The wood chipper also includes a feed system that is adapted to advance wood to be processed towards the chipper drum, and a controller that is operatively connected to the engine and adapted to determine an instantaneous engine operating rate during rotation of the chipper drum. The controller is also operatively connected to the feed system and adapted to control the rate of advance of wood towards the chipper drum. The controller is also adapted to modify the rate of advance of wood towards the chipper drum as the instantaneous engine operating rate changes while the chipper drum is being rotated.

Abstract: Disclosed is a method for manufacturing a piece, especially a green piece made of ceramic material, by the technique of additive manufacturing according to which layers of a photocurable paste are successively allowed to cure according to a pattern defined for each layer, the first layer being formed on a working surface on a working tray, each layer, before curing according to a defined pattern, being spread by scraping by one scraping blade or parallel scraping blades from an amount of paste supplied onto the working tray, which is lowered upon each formation of a layer. Upon each formation of a layer, the amount of paste necessary to form the layer is dispensed onto the working surface, from at least one nozzle which is moved in front of the scraping blade, or in the case of parallel scraping blades, in front of the front scraping blade.

Abstract: A feeding device for a press comprising: a first belt (2), movable in advancement along a conveying direction (X) and passing through a press (11, 12); depositing means (3), predisposed for spreading in a layer an amount (L) of loose material (L) on a movable plane. The device comprises a second belt (4), on which the depositing means (3) operate, located upstream of the first belt (2), which is movable along the conveying direction (X) and is substantially aligned and contiguous to the first belt (2). The first belt (2) and second belt (4) are movable independently of one another.

Abstract: A washout system for a concrete mixer vehicle includes a plurality of valves, a plurality of nozzles, and a controller. The plurality of valves are configured to (i) be fluidly coupled to a pump and a fluid tank and (ii) receive a fluid from the pump. One or more of the plurality of nozzles are fluidly coupled to a respective one of the plurality of valves. Each of the plurality of nozzles are configured to provide the fluid to a respective target when the respective one of the plurality of valves is selectively activated to an open position. The controller is configured to monitor a plurality of washout parameters during operation of the concrete mixer vehicle and initiate one of a plurality of washout modes in response to a subset of the plurality of washout parameters being satisfied for the one of the plurality of washout modes.

Abstract: A dual container concrete mixing transport truck chute washout system with (a) a chute attachable funnel container having an open mouth with an upper rim, an attachment for detachably attaching the funnel container below an exit end of a concrete truck concrete chute, and a material outlet connector to drain liquid and debris from the funnel container, and (b) a truck mountable holding container having an upper portion that is adapted to store the funnel container when the funnel container is not affixed to the chute, a lower portion for collection of fluid and solid materials, a seat located between the upper space and the lower portion, a material inlet connector, and a fluid drain valve for draining fluid from the holding container, wherein the upper rim of the funnel container is adapted to sit on the seat of the holding container to act as a lid.

Abstract: Provided is a method for manufacturing a fiber-reinforced resin molding material having excellent productivity at low cost for manufacturing a fiber-reinforced resin molded article having excellent strength properties. Provided is a method for manufacturing a sheet-shaped fiber-reinforced resin molding material containing a plurality of cut fiber bundles and a resin impregnated between filaments of the cut fiber bundles, the method comprising an integrated material manufacturing step for obtaining an integrated material by collecting a sheet-shaped fiber bundle aggregate obtained by arranging and spreading a plurality of consecutive fiber bundles in a width direction.

Abstract: A composite material and method for making the same is disclosed. Also disclosed are methods for printing the composite material and devices which are used for printing the composite material. The composite material comprises roving which is impregnated with thermoplastic material via a modified pultrusion method. The composite material is then used in 3D printing of buildings either in combination with concrete printing or alone. The composite material may be extruded in solid form or in a soft form, depending on the extruding mechanism employed by a given 3D printer. The material is printed by 3D printers employing polar coordinate system software and hardware.

Abstract: Provided is a manufacturing method of a pattern sheet having excellent productivity at low costs. The manufacturing method of a pattern sheet includes: a process of producing, using a plate precursor having a protruding pattern formed thereon, a plurality of first molds having a recessed shape, which is an inverted shape of the protruding pattern, from a resin; a process of producing a plurality of metallic electroforms having the protruding pattern formed thereon by electroforming using the first mold; a process of producing a plurality of second molds having a recessed shape, which is an inverted shape of the protruding pattern, from a resin using the electroform; and a process of producing pattern sheets and having a protruding pattern formed thereon using the second mold.

Abstract: In order to use a laser beam to cure a resin composite material to a high strength with simple equipment, this curing device (1) is provided with: a pressurizing body (4) which is formed from a material that transmits a laser beam (L) (quartz glass, for example) and which, when pressed against the surface of an uncured resin composite material (2), applies pressure on the resin composite material (2); and a laser beam supply unit (5) which irradiates a laser beam (L) through the pressurizing body (4) onto the uncured resin composite material (2). This curing device is further provided with an irradiation position adjustment unit (6) which, within the area pressed by the pressurizing body (4), moves the position irradiated by the laser beam (L) supplied from the laser beam supply unit (5).

Abstract: Apparatus and methods are disclosed which reduce stress formation in potting heads for porous hollow filtration membranes. In one example, there is disclosed a potting sleeve for forming a potting head which includes a first fixed portion and a second portion which is movable relative to the first fixed portion to reduce a peripheral extent thereof. In another example, a method of mounting a porous hollow membrane in a membrane filtration apparatus includes positioning a portion of porous hollow membranes within a mold and introducing a curable potting material into the mold so as to immerse the portion of the porous hollow membranes and at least part of one or more deformable members in the potting material. The method further includes at least partially curing the potting material to form a potting head and removing the potting head and the one or more deformable members from the mold.

Abstract: A molded metallized polymeric structure includes a metal plate-able polymer component having a metallized surface wherein the component includes one or more locking members. The molded metallized polymeric structure additionally includes a polymer resin coupled to one or more binding regions of the metallized surface wherein the polymer resin is positioned to be in contact with the one or more locking members. The molded metallized polymeric structure has one or more visually exposed portions of the metallized surface.

Abstract: The invention concerns a method for the production of a composite component from at least one hollow profile base element and at least one supporting element positioned in the interior of the at least one hollow profile base element.

Abstract: A method of manufacturing a radar cover that covers a radar unit configured to determine surrounding conditions of a vehicle, the method includes: forming a transparent layer including a recessed portion; forming a fitting section including a protruding portion to be fitted into the recessed portion; forming a shiny film to be disposed between the protruding portion of the fitting section and the recessed portion of the transparent layer and formed of a discontinuous shiny film containing chrome; and fixing the transparent layer and the fitting section to each other in a state where the shiny film comes into directly contact with an inner surface of the recessed portion.

Abstract: A method of forming a headrest assembly includes providing a first mold that encloses a first cavity in a closed condition. A support is positioned in the first cavity. A first material is blow molded into the first cavity and around a portion of the support to form a core part. The core part and support are removed from the first mold. A second mold encloses a second cavity in a closed condition. The core part and the support are placed into the second mold in an open condition. A fluid is injected into the core part through the support. The second mold is converted to the closed condition. A second material is injection molded into the second cavity and around the core part to form an outer shell around the core part. A fluid is withdrawn from the core part through the support.

Abstract: Various examples provide a mold including a molding component and a supplementary component. The molding component may have a cavity, to enable a molten material to fill into the molding component to form an object. The supplementary component may include a bypass having a first opening located at a first position of the molding component and a second opening located at a second position of the molding component. The molten material may flow from the first position to the second position via the molding component, flow from the first opening to the second opening via the bypass and fill into the second position of the molding component through the second opening.

Abstract: A transparent resin molded product and a mold for molding the product are provided in which occurrence of silver streak in the resin molded product is prevented. The resin molded product includes a design portion and a non-design portion, at least a part of the design portion is molded by transparent resin, and a gate trace (a gate arrangement position during the resin molding) is disposed in the non-design portion (runner portion). A foreign matter restraining portion for restraining foreign matters and bubbles contained in the transparent resin is disposed in the vicinity of the gate trace of the non-design portion. The foreign matters and bubbles are restrained by the foreign matter restraining portion and are prevented from flowing to the design portion, and therefore the occurrence of silver streak on the design portion can be prevented.

Abstract: An insert of a die for molding a speaker grille includes a forming portion. The forming portion defines a forming surface, from which a plurality of pins extend for forming apertures in a speaker grille. The forming surface defines a plurality of apertures disposed at spaced locations between the pins. The apertures are interconnected with a plurality vent channels interconnecting the apertures with the vent channels for venting air disposed in a die when melted polymer used to form the speaker grille is injected into a die cavity defined by the die. The forming member and the vent channels are formed as a monolithic construction.

Abstract: Provided is a pedestal of a molding extraction machine which may be stably carried without a particular transportation member attached thereto. In the pedestal of the molding extraction machine sorting a molded product from an injection molding machine, at least one through-hole into which a carrying member for carrying the pedestal may be inserted is provided and the carrying member such as a forklift or a hanger rod is inserted into the through-hole so that the molding extraction machine may be carried. Accordingly, there is no need to particularly attach a transportation member and the molding extraction machine may be stably carried by the carrying member.

Abstract: To provide a conveyer device that can prevent a sheet-shaped base material comprising a fluid plasticizer from slipping in the lengthwise direction of a roller and thereby prevent a flaw such as a wrinkle in the sheet-shaped base material comprising a fluid plasticizer, the sheet-shaped base material extending in a longitudinal direction and having a width defined in a direction orthogonal to the longitudinal direction, a conveyer device (1) includes a plurality of rollers (R1 and 102), at least one roller (R1) of the plurality of rollers (R1 and 102) having a length not smaller than the width of the sheet-shaped base material (S1), the plurality of rollers (R1 and 102) having a slipping preventing mechanism configured to prevent the sheet-shaped base material (S1) from slipping on the at least one roller (R1).

Abstract: A method of producing a film in accordance with an aspect of the present invention includes: a first kneading and forming step of forming a composition obtained by kneading a polyolefin resin and a plasticizer; a stretching step of stretching the composition; a composition cleaning step of immersing the composition in a cleaning solvent and removing the plasticizer; a separation step of separating, from the cleaning solvent which has been used in the cleaning step, the plasticizer which has been eluted in the cleaning solvent; and a second kneading and forming step of forming a composition obtained by kneading a polyolefin resin and the plasticizer which has been separated in the separation step.

Abstract: In particular embodiments, a process for producing bulked continuous carpet filament from recycled polymer utilizes two vacuum pumps in combination with a single extruder. In various embodiments, the dual vacuum arrangement (e.g., at least two vacuum pumps) operably coupled to the single extruder (e.g., MRS extruder) may be configured remove one or more impurities from recycled polymer as the recycled polymer passes through the extruder such that the process: (1) is more effective than earlier processes in removing contaminates and water from the recycled polymer; (2) allows for an increased throughput through a single extruder, which may result in a doubling of a number of thread lines produced from a single extruder; (3) results in a desired intrinsic viscosity for the extruded recycled polymer at the increased throughput; and/or (4) reduces an amount of downtime of a particular production line as a result of cleaning the two vacuum pumps.

Abstract: The present invention provides a film producing apparatus and a method of producing a film both of which reduce the cost of producing a film. A film producing apparatus includes a first plasticizer collecting section and a second plasticizer collecting section each of which collects a portion of a film-forming plasticizer which portion has been separated from the film.

Abstract: A kneading apparatus (21) that makes it possible to easily obtain a kneaded material having a favorable property includes: a screw (23) for extruding polyethylene which has been fed through a feed opening (27); a first heater (24) for heating the polyethylene which is extruded by the screw (23); and a second heater (25) for preheating liquid paraffin which is to be added, through a side-feed opening (28), to the polyethylene which is extruded by the screw (23).

Abstract: A method and a device for admixing additives into a polymer melt made of non-extracted polyamide 6 are disclosed. The polymer melt is combined in a highly concentrated form with an additional melt flow without additives and mixed therewith. Additionally, a part of the melt is branched off from a main melt flow (3), wherein the sub-melt flow (4) is transported into a dispersing device (5) and is supplied and mixed with one or more additives (12). The side-melt flow (4) with additives is then returned into the main melt flow (3), mixed with the main melt flow, and subsequently supplied for further processing.

Abstract: The inner cannula (3) of a tracheostomy tube includes a shaft (30) extruded of an ePTFE material. The axial strength of the shaft is increased by heating elongate portions (34 and 35) along the shaft such as by contact with a heated roller (205). The heating is sufficient to alter the structure of the material and make the heated portions (34 and 35) more rigid than the remainder of the shaft.