Abstract: A control device of a transfer device has: a mark relative position calculation unit which calculates a relative position of the three compensation marks relative to the cart, based on a captured image of the camera; a posture calculation unit which calculates a posture of the robot arm which arranges the article at the delivery position, based on a relative position of the three compensation marks calculated by the mark relative position calculation unit, and a teaching positional relationship which is taught in advance as a positional relationship between the three compensation marks and the delivery position; a reference positional relationship determination unit which determines whether a mutual positional relationship between the three compensation marks matches with a reference positional relationship set in advance, based on the relative positions of the three compensation marks calculated by the mark relative position calculation unit; and a displacement notification unit which notifies to outside of

Abstract: A mobile robot includes a traveling unit configured to move a main body, a LiDAR sensor configured to acquire geometry information, a camera sensor configured to acquire an image of the outside of the main body, and a controller. The controller generates odometry information based on the geometry information acquired by the LiDAR sensor. The controller determines a current location of the mobile robot by performing feature matching between images acquired by the camera sensor based on the odometry information. The controller combines the information obtained by the camera sensor and the LiDAR sensor to accurately determine the current location of the mobile robot.

Abstract: The present disclosure relates to a modular movable robot that is capable of providing various services and realizing autonomous driving.

Abstract: A method for remote operation of a robot, preferably including: recording a set of sensor streams; transmitting a transmission stream; selecting a received stream for display; and/or displaying the selected stream. A system, preferably including a robot and a remote operation system connected to the robot by one or more communication networks.

Abstract: A human-like tactile perception apparatus for providing enhanced tactile information (feedback data) from an end-effector/gripper to the control circuit of an arm-type robotic system. The apparatus's base structure is attached to the gripper's finger and includes a flat/planar support plate that presses a pressure sensor array against a target object during operable interactions. The pressure sensor array generates pressure sensor data that indicates portions of the array contacted by surface features of the target object. A sensor data processing circuit generates tactile information in response to the pressure sensor data, and then transmits the tactile information to the robotic system's control circuit. An optional mezzanine connector extends through an opening in the support plate to pass pressure sensor data to the processing circuit. An encapsulating layer covers the pressure sensor array and transmits pressure waves generated by slipping objects to enhance the tactile information.

Abstract: A robot includes a base, a movable unit coupled to the base, and a control board having an imaging calculation unit that calculates output from an imaging unit, a force calculation unit that calculates output from a first force detection unit, and an action calculation unit that calculates an action of the movable unit based on a calculation result by the imaging calculation unit and a calculation result by the force calculation unit, wherein the control board is located inside of the base.

Abstract: A robotic network includes multiple work cells that communicate with a cloud server using a network bus (e.g., the Internet). Each work cell includes an interface computer and a robotic system including a robot mechanism and a control circuit. Each robot mechanism includes an end effector/gripper having integral multimodal sensor arrays that measure physical parameter values (sensor data) during interactions between the end effector/gripper and target objects. The cloud server collects and correlates sensor data from all of the work cells to facilitate efficient diagnosis of problematic robotic operations (e.g., accidents/failures), and then automatically updates each work cell with improved operating system versions or AI models (e.g., including indicator parameter value sets and associated secondary robot control signals that may be used by each robot system to detect potential imminent robot accidents/failures during subsequent robot operations.

Abstract: Methods for an autonomous mobile robot are described. According to an exemplary embodiment, one method comprises the detection of information regarding the structure of the environment around the robot in the robot deployment area by means of a first sensor unit of the robot and the creation of a map based on the detected information. The method also comprises the measurement of a direction and/or a quantity of at least one physical vector field variable for one or more poses of the robot by means of a second sensor unit and the determination, based on the measurement(s) carried out for one or more poses of the robot, of a preferred direction of the at least one physical vector field variable for the robot deployment area (or a portion thereof). Furthermore, corresponding robots and robot systems are described.

Abstract: The disclosure provides an apparatus, system and method for providing an end effector. The end effector may be capable of accommodating semiconductor wafers of varying sizes, and may include: a wafer support; a bearing arm capable of interfacing with at least one robotic element, and at least partially bearing the wafer support at one end thereof; a plurality of support pads on the wafer support for physically interfacing with a one of the semiconductor wafers; and a low friction moving clamp driven bi-directionally along a plane at least partially provided by the bearing arm, wherein the low friction moving clamp retractably applies force to a proximal edge of the semiconductor wafer.

Abstract: A driving apparatus includes a rotation body in which at least a lower portion is a cylindrical rotated portion, a housing including a top plate portion in which the rotated portion is inserted, a driving mechanism provided in the housing and configured to rotate the rotation body, and an exhaust unit. The top plate portion of the housing comprises a circular opening in which the rotated portion is inserted, and a groove portion provided to surround the opening and communicating with the opening. The groove portion comprises, at at least one point of the groove portion in a circumferential direction, a wide portion whose groove width in a radial direction of the opening is made large. The exhaust unit is provided to communicate with the wide portion and exhausts air in the groove portion.

Abstract: An end effector device includes a housing having an opening, a first gripper, and a second gripper. The first gripper includes a first finger and a second finger facing each other and configured to open and close. The second gripper includes a third finger and a fourth finger facing each other and configured to open and close in a direction intersecting the first gripper. The first finger, the second finger, the third finger, and the fourth finger each protrude from the opening.

Abstract: A robotic gripper (end effector) for an arm-type robotic system includes a hierarchical sensor architecture that utilizes a central data processing circuit to generate rich sensory tactile data in response to pressure, temperature, vibration and/or proximity sensor data generated by finger-mounted sensor groups in response to interactions between the robotic gripper and a target object during robotic system operations. The rich sensory tactile data is used to generate feedback signals that directly control finger actuators and/or tactile information that is supplied to the robotic system's control circuit. Sensor data processing circuits are configured to receive single-sensor data signals in parallel from the sensor groups, and to transmit corresponding finger-level sensor data signal on a serial bus/signal line to the central data processing circuit.

Abstract: A gripper includes at least one first gripper finger adjustably mounted to a gripper main body by a gripping finger mount, at least one second gripper finger cooperating with the first gripper finger, and a motor-drivable transmission configured to adjust the at least one first gripper finger relative to the gripper main body and the at least one second gripper finger such that a clamping force is generated, whereby an article can be held in a clamped manner by the gripper. The transmission includes a first transmission member connected to the first gripper finger, and a second transmission member mounted on the gripper main body by a transmission-member bearing arrangement having a first transmission member bearing configured to absorb the transmission-bearing reaction force that acts in a direction of the clamping force. The transmission-member bearing arrangement includes a sensor configured to sense the transmission-bearing reaction force.

Abstract: A robot gripper, including at least two gripper fingers of a grasper assembly configured to perform grasping motions via actuation of independent cable ends of a plurality of cables, and configured to move toward or away from each other to perform the grasping motion. Wherein each gripper finger is actuated by a pair of cables, a cable of the pair slides in a flexible sheath when actuated by a motor, moving the gripper finger in an opposite direction of an other cable of the pair also in a flexible sheath, providing equal motions of each cable in the pair in opposite directions. A motor assembly including the motors is mounted at a location separate from the grasper assembly with the flexible sheathing extending between the assemblies. Such that the separate assembly mounting arrangement provides an improved ratio between a gripping force of the grippers versus the robot-lifted mass of the grasper assembly.

Abstract: A connector (70) for mechanically connecting a device (2) to a robot (20), wherein the connector (70) comprises a first portion (74) configured to be attached to the robot (20) and a second portion (76) configured to be attached to a device (2) configured to be connected to the robot (20). The first portion (74) and the second portion (76) are detachably attached to each other by means of: a) a first connection portion (1) constituting a rotational system comprising a pivot (116) about which the first portion (74) can rotate with respect to the second portion (76) and b) a second connection portion (1?) constituting a mechanical locking structure that prevents the first portion (74) and the second portion (76) from being detached from each other.

Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

Abstract: A method for a multi-body controller receives steering commands for a robot to perform a given task. The robot includes an inverted pendulum body, a plurality of joints, an arm coupled to the inverted pendulum body, a leg coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the leg. With the steering commands, the method generates a wheel torque and a wheel axle force to perform the given task. The method includes receiving movement constraints for the robot and manipulation inputs configured to manipulate the arm to perform the given task. For each joint, the method generates a corresponding joint torque having an angular momentum where the joint torque satisfies the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force. The method further includes controlling the robot to perform the given task using the joint torques.

Abstract: The invention relates to a method and to a device for producing a robot with a robotic arm. Said method can be carried out using an assembly robot wherein first housing segments are arranged in an intended sequence for the robotic arm, drive units are inserted into the first housing segments and the respective complimentary second housing segments are placed on the first housing segments comprising the drive units.

Abstract: A robot system includes a robot, a controller that controls actuation of the robot, and a first external device, wherein the robot has a first member, a second member that pivots relative to the first member, a motor that generates drive power for pivoting the second member relative to the first member, an encoder including a detection unit that detects an amount of rotation of the motor, a control unit that controls actuation of the detection unit, a communication unit that communicates with the controller, and a first device connecting part connected to the first external device, the control unit connected to the detection unit, the communication unit, and the first device connecting part, and a first communication line connecting the communication unit and the controller, and data of the first external device is transmitted to the controller via the first device connecting part and the first communication line.

Abstract: A robot includes a movable unit displaced in horizontal directions and having a recessed part opening upward in a vertical direction, a connector placed within the recessed part, and a drain part that communicates between a bottom portion of the recessed part and an outside of the movable unit and drains a liquid within the recessed part out of the recessed part.

Abstract: A folding knife can include a handle, a pivot mechanism, a blade retention member, and a replaceable blade. The pivot mechanism has a pivot element and an actuation member. The pivot element extends from one side of the handle. The actuation member is coupled to another side of the handle and is selectively movable without use of a tool to lock/unlock the side portions of the handle relative to each other. A proximal portion of the blade is releasably secured to the blade retention member, and a distal portion of the blade extends beyond the blade retention member. The blade retention member is pivotable relative to the handle between an open configuration in which a cutting edge portion of the blade is exposed from the handle and a closed configuration in which the cutting edge portion of the blade is concealed by the handle.

Abstract: A pocket knife has a blade pivotally deployable on a handle formed by upper and lower handle plates. Longitudinal channel portions are formed in facing surfaces of the handle pates at their distal ends, which are shaped and dimensioned to form a socket that can engage a standard hexagonal tool bit. A magnet is provided on the root portion of the blade for retaining the tool bit in the socket formed by the channel portions. In a variant, the channel portions are omitted, the hexagonal tool bit is retained in a slot formed in the root portion of the blade, and the ends of the handle plates engage opposite flats of the tool bit.

Abstract: A universal guide blade for a hair clipper is provided, which includes a guide body having a cutting guide formed on a front side, and a plurality of attaching grooves spaced apart from each other at predetermined intervals formed on a rear side of the cutting guide, a guide fixing part formed at a center of a rear side of the guide body and having a mounting protrusion for fixing to and separating from a detachable-type hair clipper, and a fixing member inserted into the attaching grooves and fixing the guide blade to a fixed-type hair clipper by a predetermined elastic force.

Abstract: A handheld razor cutter apparatus for cutting and trimming materials such as screens includes a blade housing coupled to a handle. The handle is coupled to a top plate of the blade housing such that it secures the blade housing in a horizontal position. A bottom plate is selectively engageable with a bottom side of the top plate to secure a razor blade therebetween. The razor blade has an edge encompassed by the perimeter of the bottom plate. The blade housing has a plurality of notches extending through the perimeter. The edge of the razor blade is sharpened on at least a plurality of exposed portions defined by the plurality of notches of the blade housing to perform cuts.

Abstract: A razor blade has a symmetrical tapering blade edge ending in a blade tip. The razor blade includes a substrate and a coating covering the substrate. The coating includes a soft coating and a hard coating. The hard coating includes at least a main layer. The soft coating covers the hard coating. The substrate has a substrate tip including a tapering geometry toward the substrate tip. The substrate tip has specific thicknesses at distances of 5 micrometers, 20 micrometers, 40 micrometers, and 200 micrometers from the substrate tip.

Abstract: A cutting cutter (10) includes: a blade piece (50) that is held on a blade piece holding part (30) so as to extend at least in a second direction (DB); and a guard part (70) that is movable, relative to the blade piece holding part (30), between a guard position in which a distal end of a blade edge (51) of the blade piece (50) is covered from one side in the second direction (DB), and an exposure position in which the distal end of the blade piece (50) is exposed to the one side in the second direction (DB); wherein when a first contact part (23) of a body part (20) is brought into contact with one surface (3) of a package (1), the guard part (70) is pushed by the one surface (3) from the guard position to the exposure position.

Abstract: A cutter device, comprising: a first blade including a first cutting edge extending in a first direction; a second blade including a second cutting edge extending in a second direction; and a guide portion provided at a position anterior to the second blade in the second direction, wherein the second blade moves in the second direction to cut a recording medium while leaving a part thereof uncut, and when the second blade is located posterior, in the second direction, to a position where the second blade cuts the recording medium, at least a part of the guide portion is located to protrude farther in the first direction than the first cutting edge, or located at a same position as the first cutting edge.

Abstract: A device for cutting a mat or panel made of mineral wool or a board or panel made of porous construction material, including a system for moving the mat or panel made of mineral wool or the board or panel made of porous construction material, which includes at least one conveyor, capable of moving along a direction, an endless diamond element designed to cut the mat or panel made of mineral wool or the board or panel made of porous construction material, a device for running the endless diamond element in a direction perpendicular to the direction of movement of the mat or panel made of mineral wool or the board or panel made of porous construction material, the endless diamond element being an endless diamond wire, an endless diamond cable or an endless diamond strip.

Abstract: A processing apparatus includes a cutting blade mounted on a spindle, the cutting blade having a cutting edge for cutting a workpiece held on a holding table, a measuring portion for measuring an edge projection amount of the cutting edge at a predetermined frequency, and a data processing portion. The data processing portion includes a lower limit recording portion for recording a lower limit of the edge projection amount of the cutting edge as an allowable limit for use of the cutting blade, a storing portion for storing blade information including the edge projection amount measured by the measuring portion and a cutting distance traveled by the cutting blade at the time of measurement of the edge projection amount.

Abstract: A tape detection mechanism including a first pivoting member provided to pivot about a detection pivoting shaft, a second pivoting member linked, to be configured to pivot, to a pivot linking portion provided on the first pivoting member, a pivoting contact section with which the second pivoting member comes into contact when the first pivoting member and the second pivoting member pivot in a first pivoting direction about the detection pivoting shaft as the tape, which is fed thereto, comes into contact with the first pivoting member, and a sensor which detects the second pivoting member which comes into contact with the pivoting contact section.

Abstract: A retraction device includes a spindle movable along the axis thereof and an operating unit including a pull rod and a movable member. The movable member defines a step-shaped groove, the pull rod has a first end connected to the spindle, and a second end received in the groove; the groove includes a first step and a second step and an inclined face connecting the first step and the second step arranged along a first direction, and a height of the second step is greater than that of the first step along the axis direction of the spindle; the movable member is slidable along the first direction relative to the pull rod, to allow the spindle to switch between a retraction position in which the pull rod is received in the second step, and a release position in which the pull rod is received in the first step.

Abstract: The invention relates to a food treatment apparatus, comprising a frame, a treatment chamber apt to receive a treatment tool and a feed channel formed by side walls with an open side for inserting food. A pushing device is configured to be inserted within the feed channel to press food towards the treatment tool. The pushing device comprises a pusher support lever pivotally movable relative to the frame around a pivot axis and a pusher rod slidably coupled to the pusher support lever to slide along a sliding axis. Side walls are configured to allow the pusher support lever to be rotated around the pivot axis and at the same time to allow the pusher rod to be translated along said sliding axis while the pushing device is moved from an open position towards a closed position.

Abstract: An automated crosscut saw system utilizing a wood scanning unit to optimize the cuts in a particular piece of wood to remove defects or flaws and a method of use therefor is provided. The automated saw system has the ability to scan and cut a piece of wood simultaneously or in rapid succession without the need for scanning the entire length of the wood prior to cutting. Further, the automated saw system may eliminate the need for a secondary feeder and secondary queue.

Abstract: The present disclosure relates to a guide bar (1) for a chain saw (3) with a proximal section (7), a distal section (13), and an intermediate section (15) between the proxymal and distal sections. The periphery of the guide bar defines a saw chain guide for guiding saw chain links along a path (31) from an engagement location (27) one edge of the bar to a disengagement location on the other. The periphery of the guide bar, where the saw chain links are supported only by the guide bar periphery has a curvature which is free from abrupt changes or step-wise changes. This provides a guide bar (1) less subject to wear during use.

Abstract: Blade guards for power tools such as table saws are disclosed. The blade guard may include a guard that pivots up and down to allow a workpiece to move past the guard, a dust collection channel, and a pivot mechanism which maintains the dust collection channel in an operable condition as the guard pivots up or down. The guard may also function as a wood stop and it may include anti-kickback pawls. The blade guard may be part of a dust collection system and may be connected to a vacuum system by a conduit such as a flexible hose.

Abstract: A printhead for an additive manufacturing system includes a hopper, an outlet, a mixing shaft, and a drive shaft. The hopper includes an inner volume configured to store a slurry material for mixing. The outlet includes a passageway fluidly coupled with the hopper. The outlet includes an open end for discharging the slurry material to a surface through the passageway. The mixing shaft extends through the inner volume of the hopper and includes a member that extends radially outwards from the mixing shaft. The member is configured to mix the slurry material within the hopper as the mixing shaft rotates. The drive shaft extends through the inner volume of the hopper and at least partially into the passageway of the outlet. The drive shaft includes a sloped surface configured to drive the slurry material from the hopper to the surface through the passageway of the outlet.

Abstract: In one aspect, a method of making a sintered article comprises providing a composite article comprising a porous exterior printed from a powder composition via one or more additive manufacturing techniques, the porous exterior defining an interior volume and providing a loose powder component in the interior volume. The porous exterior and loose powder component are simultaneously sintered to provide the sintered article comprising a sintered interior and sintered exterior.

Abstract: Kneading elements, extrusion apparatus, and methods of manufacturing honeycomb bodies are described herein. A kneading element (1802) has an inner surface (1804) defining an opening (1806) configured to couple the kneading element (1802) to a shaft (46,48). The kneading element (1802) also has a continuous closed curve elliptical outer surface (1808). The opening (1806) has an axis (1814) that is off-center with respect to a geometric center (1816) of the kneading element (1802) as viewed in a transverse plane perpendicular to the axis.

Abstract: A method of lining a pipe with a lining mixture formed from a dry component and a liquid is discussed. The method includes placing the dry component in a dry component surface container located above ground, conveying the dry component from the dry component surface container to a dry component subterranean supply container located underground, conveying the dry component from the dry component subterranean supply container to a mixer located underground, mixing the dry component with the liquid to form the lining mixture, and applying the lining mixture to the pipe with a mixture applicator.

Abstract: Systems and methods of thermoforming stone slabs are provided, such as by heating a stone slab while forming it to a mold. Curved stone slabs may be produced having low radii of curvature.

Abstract: A cutting apparatus is provided. The cutting apparatus includes a processing chamber, a chuck table, a transferring mechanism, and a cleaning member. The chuck table is disposed in the processing chamber and configured to hold a workpiece on a chuck surface of the chuck table during a cutting process. The transferring mechanism is configured to transfer the workpiece to the chuck surface before the cutting process or transfer the workpiece away from the chuck surface after the cutting process. The cleaning member is disposed in the processing chamber, and is configured to move across and clean the chuck surface, driven by the transferring mechanism.

Abstract: An extruder includes an extruder barrel module, an extruder feeder module, a screw motor module, and an electronics module. The extruder barrel module includes an axially extending barrel in which an extruder barrel screw is removably receivable. The extruder feeder module is removably connectable to the extruder barrel module, and has an axially extending flow passage having a feedstock outlet end and a screw motor module mounting end. The screw motor module is removably connectable to the extruder feeder module, and has a motor drivingly connectable with a screw in the flow passage of the extruder feeder module. The electronics module is electrically connectable with the screw motor module and mechanically removably mounted as part of the extruder.

Abstract: A device for mixing at high-pressure two or more reactive liquid components or resins comprises a head-body provided with a mixing chamber with inlet and outlet openings for the injecting and recirculating reactive components; a single-piece tubular element, for delivering the mixture, communicates, through an intermediate transversal hole with the mixing chamber and slidingly houses a cleaning member; a valve member with longitudinal recirculation slots slides in the mixing chamber between a backward position, in which the inlet openings are released, and an advanced position, in which the inlet openings are put in communication with the respective outlet openings for recirculating the respective reactive components; the tubular element is removably inserted into a pass-through hole of the head-body, transversal to the mixing chamber, and it has an annular shoulder zone, separated and distant from the transversal hole; fixing elements removably lock the annular shoulder zone at the head-body for holding the

Abstract: A high-pressure mixing device adapted to form a polymeric mixture from the reaction of two or more reactive liquid components or resins, comprises a head-body provided with a mixing chamber having an inner cylindrical surface with inlet and outlet openings for injecting and recirculating reactive components; a duct for delivering the mixture, communicating with the mixing chamber; a valve body with recirculation longitudinal slots, sliding into the mixing chamber between a backward position in which it clears the inlet openings and enables to mix components, and an advanced position, in which the slots put inlet openings in communication with outlet openings for recirculating the reactive components; the delivery duct, of the self-cleaning type, is a single-piece tubular element, removably fastened—by means of fixing members—and can be inserted into a hole transversal to the mixing chamber passing through the head-body; the tubular element has an intermediate transversal hole aligned with the mixing chamber w

Abstract: The invention relates to a device (1) and method for the production of plastic parts (2), having a first plastic feed device (3a) for feeding a first liquid plastic starting component (K1); a second plastic feed device (3b) for feeding a second liquid plastic starting component (K2); a mixing device (5) with a mixing chamber (6), wherein in the mixing chamber the liquid plastic starting components that can be fed by the plastic feed devices can be mixed to form a plastic mixture (KG); a discharge nozzle (7) for discharging the plastic mixture; and a cooling device (8) for the mixing device, wherein a drying device (9) surrounding the mixing device at least in regions is provided, wherein the drying device has a separating device (10), a drying chamber (T) formed between the separating device and the mixing device, and a desiccant feeding device (11) opening into the drying chamber.

Abstract: A process including providing a three-dimensional printing powder dispersion comprising a three-dimensional printing powder, an optional dispersing agent, and water; providing an emulsion of an organic polymeric additive; combining the three-dimensional printing powder dispersion and the emulsion of organic polymeric additive to form a mixture comprising the three-dimensional printing powder dispersion and the emulsion of organic polymeric additive; and drying the mixture of the three-dimensional printing powder dispersion and the emulsion of organic polymeric additive.

Abstract: Systems and methods are provided for fabricating composite parts. One embodiment is a method for fabricating a composite part, the method comprising: reducing a bulk factor of chips of chopped fiber while forming the chips into a pre-consolidated charge; shaping portions of the pre-consolidated charge into shaped volumetric charges that fit within a die; and compression molding the shaped volumetric charges within the die.

Abstract: An injection molding method uses a die with a cavity into which molten resin is to be injected to fill the cavity. The die has a shape that causes the molten resin injected into the cavity to branch and merge. The injection molding method includes providing bubbles into the molten resin before the molten resin is injected, generating fine bubbles with the provided bubbles before the molten resin is injected, injecting the molten resin containing the fine bubbles, and bursting the fine bubbles of the injected molten resin containing the fine bubbles in a merging location where the molten resin merges.

Abstract: A method of manufacturing bulked continuous carpet filament from recycled polymer. In various embodiments, the method includes: (1) reducing recycled polymer material into polymer flakes; (2) cleansing the polymer flakes; (3) melting the flakes into a polymer melt; (4) removing water and contaminants from the polymer melt by dividing the polymer melt into a plurality of polymer streams and exposing those streams to pressures below 25 millibars or another predetermined pressure; (5) recombining the streams; and (6) using the resulting purified polymer to produce bulked continuous carpet filament.

Abstract: A method of producing an in-situ molded concrete object includes positioning a form on a substrate. The form can include a leg portion, a face portion, and a frangible portion. The frangible portion can connect the leg portion to the face portion. The method includes coupling the leg portion to the substrate to create a container open on at least one side. The method also includes pouring concrete into the container. The frangible portion can be fractured to separate the face portion from the leg portion.