Abstract: Described herein are methods and systems for selecting surgical approaches. One example method involves (1) receiving data indicating (a) one or more surgical target regions and (b) one or more surgical portals; (2) determining a plurality of surgical pathways; (3) determining a plurality of surgical approaches; (4) for each surgical approach in the plurality of surgical approaches, determining at least one approach characteristic, for each determined surgical pathway in the respective surgical approach, determining at least one pathway characteristic, and determining a surgical-approach ranking based on the determined at least one approach characteristic and the determined at least one pathway characteristic; (5) selecting a subset of the plurality of surgical approaches based on the determined surgical approach rankings; and (6) causing an output device to provide a representation of the selected subset of the plurality of surgical approaches.

Abstract: Automated behaviors in an environment can be implemented based on aggregation of individual user routines. For example, mobile devices used by users in the environment can provide information about the users' behavior patterns to a coordinator device that can be located in the environment. The coordinator device can analyze the information to detect an aggregate pattern that involves multiple mobile devices and/or multiple users. Based on a detected aggregate patterns, the coordinator can identify behaviors to automate.

Abstract: An electric appliance includes a driving unit operating on the basis of energy information including information with respect to an energy price, a communication unit requesting the energy information to an external component, a memory unit for storing the energy information received through the communication unit, and a control unit controlling the communication unit such that the communication unit receives first energy information corresponding to a present time of the energy information and receives second energy information that is information except for the first energy information.

Abstract: The current application is directed to intelligent controllers that continuously, periodically, or intermittently monitor progress towards one or more control goals under one or more constraints in order to achieve control that satisfies potentially conflicting goals. An intelligent controller may alter aspects of control, dynamically, while the control is being carried out, in order to ensure that goals are obtained and a balance is achieved between potentially conflicting goals. The intelligent controller uses various types of information to determine an initial control strategy as well as to dynamically adjust the control strategy as the control is being carried out.

Abstract: Embodiments of real vehicle in-the-loop test systems and methods are disclosed. The system can include a sensor configured to acquire state information and location information of a real vehicle and environment information of an emulation test environment where the vehicle is located; an interaction module configured to acquire a test task in response to the instruction entered by a user, an emulation test environment of the test task comprises a test situation, a map, and an intelligent agent; a vehicle sensing module configured to acquire the state information, the location information, and the environment information from the sensor; and a test task control module configured to receive the test task from the interaction module, the state information and the location information from the vehicle sensing module and load them to the emulation test environment, control the real vehicle to execute the test task, and generate and send the test result.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for causing a transducer to transmit an acoustic input signal into a member of a device. Receiving a detection signal representing reverberations of the input signal traveling within the member from a receiver. Detecting a contact of the member with an object external to the member based on a change in the detection signal, where the change in the detection signal represents an alteration in the reverberations of the input signal caused by the contact of the member with the object. Determining a position along the member of a point of the contact of the member with the object based on the change in the detection signal.

Abstract: A system includes a high speed bus and a plurality of multi-function modules coupled to the high speed bus. The plurality of multi-function modules includes at least one controller configured to execute control logic for the system. The plurality of multi-function modules also includes at least one arbitrator configured to manage the at least one controller. The plurality of multi-function modules further includes at least one input/output (IO) manager configured to interface between the at least one controller and at least one field device.

Abstract: Devices, systems and methods for controlling electrical loads in one or more areas. A method includes transmitting, with a microcontroller via a transceiver, a sync packet including a unique address of the lighting fixture control module to a bus. The method includes listening, via the transceiver, on the bus. The method includes placing the microcontroller into a master operation mode when a master sync timeout period expires without receiving a second sync packet including a unique address for a second master device from the bus. The method includes placing the microcontroller into a subordinate operation mode when the second sync packet is received from the bus during the master sync timeout period.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first output and a second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state. The local data collection system includes multiple multiplexing units and multiple data acquisition units receiving multiple data streams from multiple machines in the industrial environment.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first output and a second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first output and a second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first and second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Multiple inputs of the crosspoint switch include a third input connected to the second sensor and a fourth input connected to the second sensor. The first sensor signal is from a single-axis sensor at an unchanging location associated with the first machine. The second sensor is a three-axis sensor.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first and second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Multiple inputs of the crosspoint switch include a third input connected to the second sensor and a fourth input connected to the second sensor. wherein the local data collection system is configured to record gap-free digital waveform data simultaneously from at least the first input, the second input, the third input, and the fourth input.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first and second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state. The local data collection system is configured to manage data collection bands. The local data collection system includes a neural net expert system using intelligent management of the data collection bands.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first and second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state. The local data collection system is configured to manage data collection bands. The local data collection system includes a neural net expert system using intelligent management of the data collection bands.

Abstract: The system generally includes a crosspoint switch in the local data collection system having multiple inputs and multiple outputs including a first input connected to the first sensor and a second input connected to the second sensor. The multiple outputs include a first and second output configured to be switchable between a condition in which the first output is configured to switch between delivery of the first sensor signal and the second sensor signal and a condition in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output. Each of multiple inputs is configured to be individually assigned to any of the multiple outputs. Unassigned outputs are configured to be switched off producing a high-impedance state.

Abstract: A method/device for managing and configuring field devices in an automation installation with a configuration tool designed to physically identify a field device in the automation installation and logically identify its field device type, to logically incorporate and configure it into the automation installation, the tool to this end resorting to a prescribed field-device-type-specific information package at least partially describing functions and data of the field device type.

Abstract: An operation program editing device includes a program editing portion configured to edit an operation program executable by a programmable controller that controls a facility, and the program editing portion includes a bypass circuit generation unit that generates a bypass circuit including a bypass path for skipping execution of some of the plurality of steps at a time of reactivation of the facility, a first selection receiving unit that receives selection of a last step, from among the plurality of steps, within a range where the execution is skipped by the bypass circuit, and a second selection receiving unit that receives selection of a first step, from among the plurality of steps, within the range where the execution is skipped by the bypass circuit.

Abstract: Provided is a PLC that can be connected to another PLC via a network, the PLC including: a storage unit that stores a sequence program; and a control unit, the control unit including: a sequence-program correcting unit that corrects the sequence program; a corrected-information obtaining unit that obtains a corrected portion and a corrected content from the corrected sequence program; a corresponding-circuit inquiring unit that extracts a first circuit in the vicinity of the corrected portion from the sequence program before correction and that makes an inquiry to the other PLC about whether a circuit corresponding to the first circuit is included in a sequence program of the other PLC; and a corrected-content transmitting unit that transmits, in response to the inquiry, the corrected content to the other PLC only when a reply indicating that the circuit corresponding to the first circuit is included is received from the other PLC.

Abstract: An electrical management system for managing a smart home. A plurality of end units such as electrical outlets and electrical switches sample the electricity going through the end-unit at least 1,000 times per second. The information is communicated to a server, which analyzes the data across many installations and can alert the user for any abnormal electrical situation in the home.

Abstract: A programmable controller periodically controls a plurality of external devices. The programmable controller includes a temporary memory, a working memory, and a control unit. The control unit transmits request packets to each of the external devices, the request packets requesting transmission of device data to be used in control of the external devices, the external devices being targets to be subjected to synchronization control, acquires the device data from response packets received from the external devices in response to the request packets, and stores the acquired device data into the temporary memory, and writes the device data stored in the temporary memory into the working memory on the condition that the respective response packets in response to the request packets transmitted within the same control period are received from the external devices.

Abstract: A numerical controller includes a division setting unit which sets division information for dividing a machining region into a plurality of areas, an area division unit which divides a machining region into a plurality of areas based on division information, a program division unit which generates divided programs respectively used for machining control in the areas, an area coordinate system setting unit which sets a virtual coordinate system in the plurality of areas, and an operation precision setting unit which sets operation precision, and performs internal operation for controlling an operation of a machine in accordance with the virtual coordinate system and the operation precision to control each axis of the machine.

Abstract: A control system for operation of an industrial machine includes a processor and a tangible, non-transitory, computer-readable memory communicating with the processor. The tangible, non-transitory computer-readable memory includes instructions that, in response to execution by the processor, cause the processor to perform operations including: receiving image data from an imaging device that monitors an image zone around the industrial machine, and analyzing the image data. The processor further performs operations including determining, based upon the analyzing, that the control system is functional, determining, based upon the analyzing, that the image data includes at least one of a predefined color, a predefined pattern, and a predefined shape, and transmitting a proximity signal to at least one relay module coupled between the processor and the industrial machine to halt operation of the industrial machine.

Abstract: A non-transitory computer readable storage medium has instructions executed by a processor to compute an x-axis axial position based upon a first host border measurement signal, a second host border measurement signal, first x-axis axial measurement signals and second x-axis axial measurement signals. A y-axis axial position is computed based upon the first host border measurement signal, the second host border measurement signal, first y-axis axial measurement signals and second y-axis axial measurement signals. A z-axis axial position is computed based upon the first host border measurement signal, the second host border measurement signal, first z-axis axial measurement signals and second z-axis axial measurement signals. The operation of a computer numerical control milling machine is coordinated based upon the x-axis axial position, the y-axis axial position and the z-axis axial position.

Abstract: A computerized method of machining a workpiece including, prior to machining the workpiece, establishing, based on empirical data obtained from machining activity at an earlier time, an historical mapping indicating pairings of depth of cut and rpm at which undesirable chatter (UDC) did not occur during machining activity at an earlier time using at least one given type of milling machine, at least one given type of cutting tool and at least one given type of workpiece material, prior to commencing machining of the workpiece, programming a machine tool to machine the workpiece using a given type of milling machine, a given type of cutting tool and a given type of workpiece material at at least one depth of cut and rpm, which, based on the historical mapping, avoid UDC and operating the machine tool in accordance with the programming to machine the workpiece.

Abstract: A numerical controller corrects a tool compensation value for a machine tool provided with a tool for machining a workpiece based on an NC machining program. The numerical controller makes it unnecessary for a person in charge of input to be conscious of the sign of the tool compensation value and prevents a tool compensation value input error by providing an input button for bringing a workpiece and a tool cutting edge close to each other by a specified amount (+input advance) and an input button for causing the workpiece and the tool cutting edge to be away from each other by a specified amount (+input retreat) at the time of inputting the tool compensation value.

Abstract: Since a data acquisition condition setting unit can select a data acquisition start/end trigger, a sampling period of data, and a type of acquired data, a waveform display device, which has a function of allowing only necessary data to be acquired by allowing a plurality of data acquisition conditions to be set with respect to one data acquisition, can set these conditions from a screen of a data acquisition condition setting. When data needs to be acquired according to a plurality of different conditions, a plurality of types of necessary data acquisition conditions is set to set different data acquisition condition names. When a plurality of data acquisition conditions is set by acquiring data once, a multi-data acquisition condition setting unit can set necessary data acquisition conditions using a screen of a multi-data acquisition condition setting.

Abstract: A numerical controller is equipped with an access unit configured to access variables included within a machining program at a time of analyzing the machining program, a look-ahead determining unit configured to determine whether or not the variables accessed by the access unit were accessed during look-ahead of the machining program, a specific variable determining unit configured to determine whether or not the variables determined to have been accessed during look-ahead by the look-ahead determining unit are specific variables, and an output unit configured to output at least one of numbers of the specific variables accessed during look-ahead and a time of accessing the specific variables during look-ahead, in the event that the variables accessed during look-ahead are determined to be the specific variables by the specific variable determining unit.

Abstract: A parameter setting device sets parameters for driving a machine in which a numerical controller is incorporated. The parameter setting device uses a machine configuration file in which information is described pertaining to the configuration of the machine. Furthermore, the parameter setting device is equipped with a parameter generating unit for generating parameters based on the machine configuration file, and a parameter setting unit for setting the generated parameters in the numerical controller.

Abstract: An apparatus for identifying a web page for an industrial control system includes an information collection unit and an industrial control system identification unit. The information collection unit receives IP targets, from which web pages are to be collected, from a user, and collects web pages and information from the IP targets. The industrial control system identification unit identifies web pages for one or more industrial control systems with respect to the IP targets based on the information collected by the information collection unit.

Abstract: Machining methods for machine tools where a workpiece can be manually moved by an operator or by automatic operation. A drawing file is displayed on a screen and machining is performed. An evaluation is performed to determine if the processed points of the workpiece match the desired processing coordinates within a tolerance range. Accordingly, the system is selectively activated to prevent processing at incorrect processing points or deviating from the tolerance range of the desired processing points. Processing yield rate is improved and all processing points are monitored by the system and displayed on a drawing file screen.

Abstract: Certain examples for generating control data for production of a three-dimensional object are described. In one example, the three-dimensional object to be generated is represented using object model data and object property data. This data is processed to generate a rasterized representation of a plane of the three-dimensional object. The rasterized representation of the plane is then mapped to an area coverage representation defines object property data at a given location in the plane as one or more proportions of a set of available object properties at the location, for example material combinations. The area coverage representation is then halftoned to generate the control data for three-dimensional printing.

Abstract: A system that can analyze and modify a point map file corresponding to a lens design is described. The lens design is optimized to meet a patient's ophthalmic prescription. However, a digital surfacing machine may not be physically capable of producing on a lens blank a lens curvature required by the prescription and defined by the point map file. The system takes into account limitations of physical characteristics of the digital surfacing machine, such as the diameter and speed of movement of the cutting tool, and modifies the point map file so that the digital surfacing machine can produce the lens curvature on the lens blank.

Abstract: An operation management system according to the present invention stores manufacture facility information in which identification information capable of uniquely specifying a manufacture facility is associated with position information of the manufacture facility in a manufacture facility information storage unit, a management device acquires the manufacture facility information from the manufacture facility information storage unit, arranges the manufacture facility on an arrangement map based on the manufacture facility information, and conducts communication setting for acquiring operation information, and the management device acquires the operation information of the manufacture facility via communication based on the communication setting, and displays the acquired operation information on the arrangement map.

Abstract: Provided is a plant equipment state gathering system which simplifies the work relating to attaching and/or replacing a detection device that detects the state of plant equipment. A plant equipment state gathering system is provided with a detection device, a mobile terminal, a network construction device and a data storage device. The detection device includes a tag unit that can store, in a non-contact manner, at least some setting information that at least includes network information for connecting to the network from the mobile terminal. The mobile terminal includes a tag control unit that allows the tag unit of the detection device to automatically store, in a non-contact manner, at least some of the setting information. When network information is stored in the tag unit of the detection device by the mobile terminal the network construction device uses this network information to determine whether to allow the connection of the detection device to the network.

Abstract: A hybrid data collection and analysis infrastructure combines edge-level and cloud-level computing to perform high-level monitoring and control of industrial systems and processes. Edge devices located on-premise at one or more plant facilities can collect data from multiple industrial devices on the plant floor and perform local edge-level analytics on the collected data. In addition, the edge devices maintain a communication channel to a cloud platform executing cloud-level data collection and analytic services. As necessary, the edge devices can pass selected sets of data to the cloud platform, where the cloud-level analytic services perform higher level analytics on the industrial data. The hybrid architecture operates in a bi-directional manner, allowing the cloud-level and edge-level analytics to send control instructions to industrial devices based on results of the edge-level and cloud-level analytics.

Abstract: Unique systems, methods, techniques and apparatuses of remote monitoring for industrial systems are disclosed. One exemplary embodiment is a system for remote monitoring of an industrial plant, the system comprising a cloud-based computing component structured to store and to access a cloud portion of a federated information model; a plurality of industrial plant-based gateway components each structured to store and to access respective gateway portions of the federated information model, the respective gateway portions of the federated information model being isolated from access by the cloud-based computing component; and a plurality of industrial plant asset controllers, each of the asset controllers structured to store and to access respective asset portions of the federated information model.

Abstract: A computer implemented method comprising receiving one or more predictive maintenance models each defining a time-based probability of failure for one or more components, receiving current performance data for the components, defining a failure function for each component from a predictive maintenance model for the component and the current performance data for the component, the failure function defining the probability of failure of the component in each of a set of time periods, defining a value loss function for each component from the failure function for the component and a time-based component cost, the value loss function defining the expected value loss due to a planned replacement of the component in a given time period before the component fails or reaches its scheduled end-of-life, receiving data defining one or more factors that have an impact on the cost of a maintenance option.

Abstract: When a motor replacement detection portion (4) detects replacement of a motor (M), a control portion (2) of the motor control apparatus executes limiting processing for limiting action of the motor (M), at least until an acceptance portion (5) accepts an input of confirmation information from a user.

Abstract: A method for controlling an unmanned aerial vehicle (UAV) includes: determining, by a processor, a change in a body portion of a user based on acquired images that include the body portion of the user; determining, by the processor, control data of the UAV based on the change in the body portion; and controlling, by the processor, the UAV based on the control data.

Abstract: A vehicle remote control method is/are configured to includes an operation in which, when receiving a remote control signal transmitted via a mobile communication terminal, a vehicle performs a remote control corresponding to the remote control signal, an operation in which the vehicle identifies vehicle state information related to the remote control failure when the remote control is failed, and the vehicle transmits a vehicle state notification and a request whether to perform the remote control after a pre-procedure on vehicle state, to the mobile communication terminal, and an operation in which the vehicle performs the remote control after the pre-procedure on the vehicle state related to the remote control failure, in response to a remote control request signal transmitted from the mobile communication terminal.

Abstract: Systems and methods are for enabling a group of individuals, each using an individual computing device, to collaboratively control a vehicle in real-time as a unified intelligence. The collaboration system comprises a plurality of computing devices, each of the devices being used by an individual user, each of the computing devices enabling its user to contribute to the emerging real-time group-wise intent. A collaboration server is disclosed that moderates the closed-loop system, enabling convergence upon a unified group intent. Control commands are repeatedly sent to the vehicle based on the determined group intent.

Abstract: Various aspects of a system and method for utilization of multiple-camera network to capture static and/or motion scenes are disclosed herein. The system comprises a plurality of unmanned aerial vehicles (UAVs). Each of the plurality of UAVs is associated with an imaging device configured to capture a plurality of images. A first UAV of the plurality of UAVs comprises a first imaging device configured to capture a first set of images of one or more static and/or moving objects. The first UAV is configured to receive focal lens information, current location and current orientation from one or more imaging devices. A target location and a target orientation of each of the one or more imaging devices are determined. Control information is communicated to the one or more other UAVs to modify the current location and current orientation to the determined target location and orientation of each of the one or more imaging devices.

Abstract: Systems and methods for scanning environments and tracking unmanned aerial vehicles within the scanned environments are disclosed. A method in accordance with a particular embodiment includes using a rangefinder off-board an unmanned air vehicle (UAV) to identify points in a region. The method can further include forming a computer-based map of the region with the points and using the rangefinder and a camera to locate the UAV as it moves in the region. The location of the UAV can be compared with locations on the computer-based map and, based upon the comparison, the method can include transmitting guidance information to the UAV. In a further particular embodiment, two-dimensional imaging data is used in addition to the rangefinder data to provide color information to points in the region.

Abstract: A system can determine that a simulated (e.g., virtual) weapon has hit a UAV. This can include determining a simulated position of the simulated weapon and the relative position of the UAV. The system can then determine an area of effect for the weapon and determine if the UAV was hit. The system can determine what components of the UAV were hit and to what degree. The system can then determine a simulated condition such as a damaged engine or wing. The system can then receive input for controlling the UAV and combine the input with the simulated condition to generate a control signal for the UAV. The control signal can include decreasing the power to a motor.

Abstract: According to certain aspects, a computer-implemented method for operating an autonomous or semi-autonomous vehicle may be provided. With the customer's permission, an identity of a vehicle operator may be identified and a vehicle operator profile may be retrieved. Operating data regarding autonomous operation features operating the vehicle may be received from vehicle-mounted sensors. When a request to disable an autonomous feature is received, a risk level for the autonomous feature is determined and compared with a driver behavior setting for the autonomous feature stored in the vehicle operator profile. Based upon the risk level comparison, the autonomous vehicle retains control of vehicle or the autonomous feature is disengaged depending upon which is the safer driver—the autonomous vehicle or the vehicle human occupant. As a result, unsafe disengagement of self-driving functionality for autonomous vehicles may be alleviated.

Abstract: Example implementations relate to vehicle occupancy confirmation. An example implementation involves receiving, at a computing system from a camera positioned inside a vehicle, an image representing an occupancy within the vehicle. The implementation further involves, responsive to receiving the image, displaying the image on a display interface, and receiving an operator input confirming the occupancy meets a desired occupancy. The implementation additionally includes transmitting an occupancy confirmation from the computing system to the vehicle. In some instances, in response to receiving the occupancy confirmation, the vehicle executes an autonomous driving operation.

Abstract: A method for determining emissions in an exhaust plume (11) produced by a combustion engine of a vessel (10) during cruise of the vessel (10), said emissions including the presence or concentration of carbon dioxide (CO2) and/or sulphur dioxide (SO2) and/or the count and size of particles. The position and distribution of the exhaust plume (11) is determined or estimated on the basis of the position, bearing and speed of the vessel (10) and further on the basis of meteorological data, such as wind direction and speed. An unmanned aerial vehicle (UAV) (12), i.e. a so-called drone, is controlled to fly through the 10 plume (11) to make measurements of exhaust emissions of the vessel (10).

Abstract: A vacuum cleaner capable of smoothly traveling along an obstacle. A control unit has modes of travel control and directional change control. In the travel control, while a distance between a main casing and a sideward obstacle detected by a distance measuring sensor is kept within a specified distance range, a motor is driven so as to make the main casing travel along the obstacle. In the directional change control, when an obstacle forward of the main casing is detected by a contact sensor during the travel control, the motor is driven so as to make the main casing change in advancing direction along the detected forward obstacle. The directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance measuring sensor.

Abstract: Wheel diameter compensation method and apparatus for a robot, wherein the method comprises: receiving, by a robot at a first location point in a work place where multiple location points are set, a travel instruction, sent from a server, wherein the travel instruction instructs it to travel to a second location point and includes a distance between the first and the second location points and a travel direction towards the second location point from the first location point; acquiring, by the robot, a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance and an actual distance corresponding to actual number of tire revolutions of the robot; and correcting, by the robot, a current wheel diameter of the robot based on the travelling deviation and the distance between the first and the second location points.