Abstract: A work machine unit includes: a support member assembled to an end effector connection part of an operating machine; a work machine part assembled to one end of the support member; and a linear guide disposed at another end of the support member across its connection to the end effector connection part from the support member, arranged in parallel to an axial direction of the work machine part, and configured to abut against a work object or its peripheral structural object. Further, the linear guide is passed through a through-hole formed in the support member, and the support member is configured to move in the axial direction of the work machine part as guided by the linear guide.

Abstract: A gearing includes an internal gear, a flexible external gear partially meshing with the internal gear and relatively rotating about a rotation axis to the internal gear, and a wave generator provided inside of the external gear and moving a mesh position between the internal gear and the external gear in a circumferential direction about the rotation axis, wherein the external gear includes an external tooth having an external tooth surface, the external tooth surface has an external tooth convex pattern including a first convex portion and a second convex portion extending in directions crossing directions of a tooth trace of the external tooth and arranged adjacent to each other in the directions of the tooth trace, and a distance between the first convex portion and the second convex portion is from 80 ?m to 520 ?m.

Abstract: A dielectric actuator including an enclosure forming a cavity having a dielectric fluid therein, the enclosure having a base, a flexible membrane and a reversibly-stretchable membrane, and a pair of electrodes, one electrode of the pair of electrodes arranged at the flexible membrane, the other electrode arranged at the base, the pair of electrodes arranged to generate an electric field to an area of the cavity that is filled with the dielectric fluid, wherein when the electric field is generated between the pair of electrodes, an electrostatic pressure in the dielectric fluid causes the flexible membrane to move towards the base, reducing an initial volume of the area of the cavity, increases a pressure of the dielectric fluid inside the cavity, and causes the reversibly-stretchable membrane to bump out to an expanded state.

Abstract: Robots and robotic systems and methods can employ artificial neural networks (ANNs) to significantly improve performance. The ANNs can operate alternatingly in forward and backward directions in interleaved fashion. The ANNs can employ visible units and hidden units. Various objective functions can be optimized. Robots and robotic systems and methods can execute applications including a plurality of agents in a distributed system, for instance with a number of hosts executing respective agents, at least some of the agents in communications with one another. The hosts can execute agents in response to occurrence of defined events or trigger expressions, and can operate with a maximum latency guarantee and/or data quality guarantee.

Abstract: Implementations set forth herein relate to generating training data, such that each instance of training data includes a corresponding instance of vision data and drivability label(s) for the instance of vision data. A drivability label can be determined using first vision data from a first vision component that is connected to the robot. The drivability label(s) can be generated by processing the first vision data using geometric and/or heuristic methods. Second vision data can be generated using a second vision component of the robot, such as a camera that is connected to the robot. The drivability labels can be correlated to the second vision data and thereafter used to train one or more machine learning models. The trained models can be shared with a robot(s) in furtherance of enabling the robot(s) to determine drivability of areas captured in vision data, which is being collected in real-time using one or more vision components.

Abstract: A method for teaching a robot to perform an operation based on human demonstration with images from a camera. The method includes a teaching phase where a 2D or 3D camera detects a human hand grasping and moving a workpiece, and images of the hand and workpiece are analyzed to determine a robot gripper pose and positions which equate to the pose and positions of the hand and corresponding pose and positions of the workpiece. Robot programming commands are then generated from the computed gripper pose and position relative to the workpiece pose and position. In a replay phase, the camera identifies workpiece pose and position, and the programming commands cause the robot to move the gripper to pick, move and place the workpiece as demonstrated. A teleoperation mode is also disclosed, where camera images of a human hand are used to control movement of the robot in real time.

Abstract: The present disclosure provides systems and methods for training a robot. The systems and methods may provide a robotic system. The robotic system may comprise a trainable robot and a sensor. The sensor may be attached to at least one physical tool. The method may comprise using the sensor to capture movement from a user operating the at least one physical tool. The method may include using at least the movement captured to train the robot, such that upon training, the robot may be trained to perform at least the movement.

Abstract: The system can include a set of joints, a controller, and a model engine; and can optionally include a support structure and an end effector. Joints can include: a motor, a transmission mechanism, an input sensor, and an output sensor. The system can enable articulation of the plurality of joints.

Abstract: More natural communication and interaction are enabled. The autonomous system (100) includes an action decision unit (140) that decides, based on an attention level map (40) in which an attention level indicating the degree of attention for each position in a predetermined space is set, the action which a drive mechanism is caused to perform.

Abstract: A method for controlling a robot to perform a complex assembly task such as insertion of a component with multiple pins or pegs into a structure with multiple holes. The method uses an impedance controller including multiple reference centers with one set of gain factors. Only translational gain factors are used—one for a spring force and one for a damping force—and no rotational gains. The method computes spring-damping forces from reference center positions and velocities using the gain values, and measures contact force and torque with a sensor coupled between the robot arm and the component being manipulated. The computed spring-damping forces are then summed with the measured contact force and torque, to provide a resultant force and torque at the center of gravity of the component. A new component pose is then computed based on the resultant force and torque using impedance controller calculations.

Abstract: A robot system includes a robot body, a memory, an operation controlling module, a manipulator, and a limit range setting module configured to set a limit range of the corrective manipulation by the manipulator. The operation controlling module executes a given limiting processing when a corrective manipulation is performed beyond the limit range from an operational position based on automatic operation information. The limit range setting module calculates a positional deviation between the operational position based on the automatic operation information before the correction and an operational position based on the corrected operation information, and when the positional deviation is at or below a first threshold, narrows the limit range in the next corrective manipulation by the manipulator.

Abstract: Cascading variational autoencoder (“VAE”) models can be used to detect robot collisions while a robot is performing a task. For a current state of the robot, various implementations include a VAE used to generate a latent space of the current state, and a predictor network used to generate a predicted latent space for the current state. A collision can be determined based on a difference between the latent space for the current state and the predicted latent space for the current state.

Abstract: Various aspects of methods, systems, and use cases include a robotic system and control or use of the robotic system. A method for autonomous movement of the robotic system may include receiving a target location, identifying robotic components of the robotic system that are in contact with a surface, and determining a robotic component of the robotic components to activate to cause the robotic system to move closer to the target location. The method may include activating, based on the determination, a motor of the robotic component to push against the surface to cause the robotic system to move towards the target location.

Abstract: The present invention relates to a near-site robotic construction system. The system includes a work station situated on a near-site position in a close proximity to a building foundation on which a building is under construction and providing shelter and workspace for at least one robot to work; and a computer-assisted cloud based near-site robotic construction platform installed on a cloud server system and configured to provide for a user to operate through a web browser, import and extract a building information modelling data, and plan a predetermined motion command set partly based on the extracted building information modelling data, wherein the at least one robot is configured to work in accordance with the predetermined motion command set to prefabricate a plurality of components for the building in the work station on the near-site position.

Abstract: The present invention relates to a computer-implemented method. The method includes causing a visual programming panel including a timeline editor and a plurality of motion blocks enabling a variety of robotic motions to be displayed in a visualization interface provided by a robot simulator shown on a web browser; selecting from a user, at the visual programming panel, at least one motion block from the plurality of motion blocks and adding the at least one motion block into the timeline editor, via a drag-and-drop, to form a motion configuration; and according to the motion configuration at the visual programming panel, automatically generating a program capable of commanding an end effector equipped on a target robot in a work cell to perform at least one selected robotic motion from the variety of robotic motions in the robot simulator.

Abstract: The present invention relates to a computer-implemented system. The system includes: an internet capable device installed with a web browser to enable web browsing to access an internet; and a cloud computing server system available on the internet and configured to: cause a visualization interface to be displayed on the web browser; receive a user instruction corresponding to a user interaction with the visualization interface inputted through the web browser; import an extracted building information modelling data from external; plan and simulate a robot motion path and a sequence of motions partly based on the extracted building information modelling data by selectively performing intelligent algorithms according to the user instruction; and generate a predetermined motion command set including the determined robot motion path and sequence of motions for a robotic device to move accordingly to prefabricate a plurality of construction components.

Abstract: A method for the continuous storage of internal operating states and visualization of past sequences of operations, as well as to a robot and/or robot controller, wherein the robot is preferably mounted on or next to a processing machine, in particular an injection molding machine and serves for the removal, handling, manipulation or further processing of injection molded parts which have just been produced. The robot controller records data, in particular changes of state, positions, internal parameters, time stamps, etc., and in case of occurrence of an error this most recently recorded information is linked to the error and stored, whereby the changes of state until the occurrence of the respective error are simulated and visually displayed for an analysis on the basis of a virtual model of the physical robot.

Abstract: A data generation device generates at least a part of data used for a generation of an image displayed on a display unit. The display unit displays a workspace model modeled after an actual workspace, as a video. The workspace model includes a robot model modeled after an actual robot, and a peripheral object model modeled after a given peripheral object around the actual robot. The robot model is created so as to operate according to operation of an operator to a manipulator. The data generation device includes a state information acquiring module configured to acquire state information indicative of a state of the peripheral object, and an estimating module configured to estimate, based on the state information, a state of the peripheral object after a given period of time from the current time point, and generate a result of the estimation as peripheral-object model data used for a creation of the peripheral object model displayed on the display unit.

Abstract: Disclosed herein are systems and methods for controlling a telepresence robot, sometimes referred to as a receiver. The systems and methods may include obtaining environmental data associated with the receiver and/or an operator of the telepresence robot, sometimes referred to as a sender. A model defining a human intent may be received and an intent of a human proximate the receiver and or the sender may be determined using the model. A first signal may be transmitted to the receiver. The first signal may be operative to cause the receiver to alter a first behavior based on the intent of the human and/or the sender.

Abstract: The present disclosure relates to methods, devices, and systems for selecting a candidate six dimensional pose hypothesis from among a plurality of six dimensional pose hypotheses. For example, the systems, devices, and methods described herein may be used to quickly, accurately, and precisely select a candidate six dimensional pose hypothesis from among a plurality of six dimensional pose hypotheses so that the selected candidate six dimensional pose hypothesis substantially overlaps with an image of an object to be identified from an image of a plurality of objects. In this manner, an object can be identified from among a plurality of objects based on the selected candidate six dimensional pose hypothesis.

Abstract: Quick-change utility knives can be rapidly opened, often without tools, such that the blade of the knives can be rapidly and readily changed. The knife can be achieved with a variety of body materials and sizes, and can be applied to both fixed and retractable knives equally. The knife separates into body portions that are secured together at the blade end by a physical structure. The opposite end of the body portions are secured together by a magnetic force. When the blade is to be changed, a separation force between the body portions overcomes the magnetic force, the body is opened, and the blade rapidly changed.

Abstract: A utility knife and methods for using the same are disclosed. The utility knife includes a handle portion, a head unit attached to the handle portion, and a blade attached to the head unit. The handle portion is made of two parts jointed together by a hinged connection arrangement. A blade support component is also included which orients the blade in perpendicular relation to a central axis of the handle. The exemplary utility knife can safely be used in many applications with a design configured to help prevent user contact with the blade's cutting edge or edges.

Abstract: A hand-held rotary cutter assembly for cutting material includes a blade receptacle having a first surface having an indentation formed therein. An edge guide is received in the indentation. The edge guide includes a continuous linear edge. A blade engages the edge guide. The edge guide and the blade are configured to move simultaneously and linearly from a first position to a second position. A segmented portion of the blade extends outwardly from the continuous linear edge of the edge guide.

Abstract: The package opening device generally comprises a body portion, neck portion, and cutting member. In a preferred embodiment, the body portion comprises an elongated ovular configuration. The body portion comprises an upper surface and a lower surface. Adjacent to a distal end of the body portion is a through opening penetrating the upper and lower surfaces. Adjacent to a proximal end of the body portion, the upper surface comprises a recessed area. The neck portion extends from the proximal end of the body portion. Extending downward from a neck portion proximal end is the cutting member. The cutting member comprises a tapered tip.

Abstract: A cutting apparatus cuts a workpiece by a cutting blade. The cutting apparatus includes a mount flange on which the cutting blade is mounted and a replacement apparatus that replaces the cutting blade mounted on the mount flange with the cutting blade for replacement. The replacement apparatus includes a rotating part, a first holding part that holds the cutting blade mounted on the mount flange on a front surface side, a second holding part that holds the cutting blade for replacement on a front surface side, and a nut rotation part that has a nut holding part that holds a nut for fixing the cutting blade to the mount flange and rotates the nut held by the nut holding part. The rotating part is coupled to the first holding part, the second holding part, and the nut rotation part.

Abstract: A paper tube making and cutting machine includes a fixed rod, a paper tape winding mechanism, an angle measurement unit, a length measurement unit, a cutter, and a drive mechanism. The paper tape winding mechanism wraps or winds at least one paper tape around the fixed rod to form a paper tube. The angle measurement unit measures an angle of the paper tape winding mechanism or the paper tape relative to the fixed rod. The length measurement unit measures a conveyed length of the paper tape. The drive mechanism determines and sets a moving speed of the cutter along the fixed rod according to the angle and the conveyed length, such that the moving speed of the cutter is corresponding to or close to a producing speed or generation rate of the paper tube formed on the fixed rod, in order to prevent the paper tube from pushing a side surface of the cutter or to prevent the cutter from pulling and stretching the paper tube to thereby improve durability of the cutter and the quality of a cut paper tube.

Abstract: A rotary cutting module for a paper cutting device has a roller and a paper-cutting blade. The roller extends along a rotating axis. A blade mount and multiple dynamic balancing recess sets are formed on an outer circumferential surface of the roller. The dynamic balancing recess sets are disposed apart from each other along the rotating axis. Each one of the dynamic balancing recess sets has multiple balancing recesses annularly disposed apart from each other. A depth of one of the balancing recesses of one of the dynamic balancing recess sets is different from a depth of one of the balancing recesses of another one of the dynamic balancing recess sets. Center of mass of each axial segment of the rotary cutting module can be adjusted individually to mitigate couple unbalance, thereby mitigating dynamic unbalance.

Abstract: A part made from lignocellulosic material (10) is formed from a single sheet (11) of partially delignified lignocellulosic material impregnated with an impregnation polymer. The part (10) comprises at least one curved portion having a double curvature surface. The part made from lignocellulosic material is produced by a production method implementing a thermoforming step. Use in particular for producing wood veneer structures.

Abstract: The invention refers to a method of joining a nogging to a stud to form a sub-module of a prefabricated building module.

Abstract: A bonding tape for joining carbide ceramic structures, wherein the bonding tape comprises: a mixture comprising carbide ceramic particles, preceramic polymer liquid, fine carbon particles and metal nanoparticles that form a eutectic liquid at temperatures below 1400° C.

Abstract: A pallet forming concrete mold assembly includes a bottom wall having a top side, a bottom side and a perimeter edge. The perimeter wall has a rectangular shape and the bottom wall has a length and width each is between 40.0 inches and 60.0 inches. A perimeter wall is attached to and extends upwardly from the perimeter edge. The perimeter wall includes a front wall, a rear wall, a first lateral wall and a second lateral wall. The top side of the bottom wall has a pair of raised sections extending from the front wall to the back wall. The raised sections form forklift slots in a concrete block formed by the bottom and perimeter walls.

Abstract: Cellular concrete is formed from a cement-based wet mix slurry with a foam entrained into the wet mix. The foam is created using a foaming agent, mixed with water and air using a foam generator. The wet mix is mixed with the foam to form the cellular concrete wet mix. Poor component metering and blending practices in the current state of the art limits the performance capabilities of existing cellular concrete placements. The presently disclosed technology addresses this with a cellular concrete mixing system comprising a dry mix hopper to store a quantity of dry mix, a mixing tank to blend the dry mix and water together to form a wet mix, a holding tank to store a quantity of the wet mix, a foam generator to generate foam from air, water, and foam concentrate, and a blend controller to control operation of the overall mixing system.

Abstract: A wafer forming method includes a modified layer forming step of applying a laser beam of such a wavelength as to be transmitted through an ingot to the ingot with a focal point of the laser beam positioned inside from a side surface at a position corresponding to the thickness of a wafer to be formed, to form a modified layer over the whole circumference of the side surface, a peeling-off layer forming step of exerting an external force from an upper surface of the ingot and concentrating a stress on a crack extending from the modified layer to the inside, to cause the crack to develop from the side surface side toward the inside and form a peeling-off layer, and a wafer forming step of peeling off a wafer to be formed, from the ingot, with the peeling-off layer as a start point, to form the wafer.

Abstract: A blade holding jig for holding a washer-type cutting blade via an annular retainer flange includes an annular flange holding portion configured to hold a first annular surface of the retainer flange under suction, and an annular non-contact suction portion arranged on an outer peripheral portion of the flange holding portion and configured to produce a negative pressure by ejection of a fluid toward the outer peripheral portion of the retainer flange held by the flange holding portion and to draw up the cutting blade toward the retainer flange. The cutting blade drawn up toward the retainer flange by the non-contact suction portion is held on the retainer flange by a suction force acting from the flange holding portion via a plurality of through holes disposed extending from a second annular surface to the first annular surface of the retainer flange.

Abstract: The present disclosure relates to a facility for forming one of a graphene-polymer resin composite and a carbon material-polymer resin composite. According to the facility of the present disclosure, in a process of forming the composite, gas and water vapor contained in graphene, a carbon material, and a polymer resin are effectively removed resulting in an increase in coupling force between the polymer resin and one of the graphene and the carbon material, and the graphene and the carbon material is uniformly dispersed inside the polymer resin resulting in no degradation of physical properties of the composite, and also, the polymer resin may be prevented from carbonizing and solidifying because there is no stagnant section while molten liquid of the polymer resin and one of the graphene and the carbon material passes through each apparatus in the facility, and thus, physical properties of the composite are maintained constant.

Abstract: The present invention realizes the production of a molded composite article that has superior appearance, that is capable of preventing or reducing a deterioration of mechanical properties, and that is superior in productivity. A sheet of a unidirectional material is fixed to a specific part of a lower mold, a force in an out-of-plane direction is applied to a specific part of a zone of the sheet which zone is to undergo shear deformation or compressive deformation, and the sheet is preformed, thereby obtaining a preform. Heat and pressure are applied to the preform in a mold, thereby obtaining a molded composite article having a desired shape.

Abstract: A process for producing a carbon sheet molding compound (SMC). An SMC manufacturing line including at least one conveyor line for laying up SMC resins on a carrier film is provided. A chopped carbon fiber which is evenly distributed using dehumidified supply air and using a pressurized air venturi apparatus which is used to debundle and randomize the carbon fibers, onto the resin on the carrier film as the carrier film moves along the conveyor.

Abstract: An apparatus to batch or continuously form solid polymer particles, the apparatus comprising the following components: A) at least one pastillation unit comprising a pastillation head, said unit used to form discrete molten polymer particles from a polymer melt; B) a moving belt to receive and transfer the discrete molten polymer particles from the pastillation head; C) a means to transfer water onto the moving belt, such that the water comes into contact with the discrete molten polymer particles on the moving belt to form the solid polymer particles; and wherein the water of component C is sprayed onto the discrete molten polymer particles, such that the ratio of “the rate of water spray” to “the discharge rate” is ?3.0; and wherein the belt residence time is ?50 seconds.

Abstract: The invention relates to a solution for reducing and removing moisture from plastic pellets by means of absorption and condensation, in which energy consumption is reduced and the process is simplified, making use of infrared wavelength efficiency, and comprising the following steps: 1. a supply phase using a dosing tank; 2. a distribution phase using a pellet levelling and dispensing device, a conveyor belt and a vibrating motor on the conveyor belt; 3. a moisture-removal phase using one or more infrared wave emitters disposed in parallel, a ventilated or cooled motor for a set of emitters, an air-recirculation passage for a set of emitters, an input temperature probe, an output temperature probe, and a moisture control probe; and 4. a discharge phase in which the material from which the moisture has been removed is discharged using a thermally-insulated collector tank.

Abstract: A reinforcing fiber tape material having a reinforcing fiber strand, used for resin injection molding, characterized in that the tape material is formed by being restrained and integrated with reinforcing fibers forming the reinforcing fiber strand or/and a plurality of reinforcing fiber strands with each other by a resin material arranged on at least one of surfaces of the reinforcing fiber strand and another resin material arranged on one of the surfaces different in softening point from the resin material, and both the resin materials have matrix resin permeability, a production method thereof, and a reinforcing fiber layered body and a fiber reinforced resin molded body using the reinforcing fiber tape material.

Abstract: Presented and described is a method for reclaiming thermoplastic materials intended for recycling, such as, for example, polyethylene terephthalate (PET), in the form of flakes. According to the invention, in a first step, the flakes are exposed to an oxidative fluid and heat until contaminated flakes are modified such that, in a second step, they are separated from the remaining flakes as a result of this modification.

Abstract: The present application relates to overmoulded printed electronic parts as well as to methods for preparing overmoulded printed electronic parts using conductive trace inks such as molecular inks, thermoset resins, and reinforcing materials such as glass microspheres and glass fabric.

Abstract: A molten plastic delivery system is disclosed having a nozzle defining a nozzle channel with a downstream nozzle channel opening. A valve pin is reciprocable within the nozzle channel between a closed position and an open position. The system includes a bell crank having first and second arms that are connected at and rotatable about a pivot. The first arm is coupled to the valve pin and the second arm is coupled to a push-pull cable such that angularly pushing the second arm about the pivot via the push-pull cable moves the valve pin to the open position and angularly pulling the second arm about the pivot via the push-pull cable moves the valve pin to the closed position.

Abstract: A resin part includes a molded main body that has a plate shape with a longitudinal direction and is constituted of an injection-molded product. The resin part has a gate portion that is a vestige of a resin injection gate. The gate portion is located in an end face part of the molded main body to cross a position corresponding to a center of gravity of the molded main body; the end face part extends in the longitudinal direction of the molded main body.

Abstract: A resin part includes a plate-shaped molded main body that is constituted of an injection-molded product. Of plate surfaces of the molded main body, a surface on an opposite side to a surface requiring surface accuracy constitutes a pressure-application surface to which pressure is applied by a movable insert. A parting line is formed on the pressure-application surface by the movable insert to satisfy the following relationship: (t/4)?x?(3t/2), where x is a distance from an end edge part of the molded main body to the parting line and t is a thickness of the molded main body.

Abstract: The present disclosure discloses a method for on-line measurement of the polymer melt temperature, comprising: on-line measurement of ultrasonic sound velocity c of melt in an injection molding process, on-line measurement of melt pressure P in the injection molding process, and obtaining melt temperature T in the injection molding process by formula (1). The present disclosure also discloses an apparatus for on-line measurement of the polymer melt temperature. The method and the apparatus provided in the present disclosure may enable on-line and in-situ characterization of the melt density and further enable on-line quantitative measurement of the melt quality. Compared with infrared measurement methods, the method provided herein is significantly reduced in cost, which is of great significance to theoretical researches of crystallization process and shear heating.

Abstract: An extruded thermoplastic composition includes: (a) from about 20 wt % to about 75 wt % of a ceramic fiber component; (b) from about 15 wt % to about 70 wt % of a polybutylene terephthalate (PBT) component including a high molecular weight PBT and a low molecular weight PBT; (c) from about 5 wt % to about 23 wt % of a polycarbonate component; and (d) from about 1 wt % to about 10 wt % of a compatibilizer component. Methods of making the extruded thermoplastic composition are also described.

Abstract: The invention relates to a method for producing a molding compound having improved properties. In particular, the invention relates to the production of a molding compound containing a polycarbonate and a reinforcing filler. According to the invention, said molding compound can be obtained by compounding a polycarbonate and the reinforcing filler by means of multi-shaft extruder having screw shafts arranged annularly with respect to one another. The reinforcing filler is preferably selected from one or more members of the group comprising the members titanium dioxide (TiO2), talc (Mg3Si4O10(OH)2), dolomite (CaMg[CO3]2). kaolinite (Al4[(OH)8|Si4O10]) and wollastonitc (Ca3[Si3O9]), preferably from one or more members of the group comprising the members titanium dioxide (TiO2) and talc (Mg3Si4O10(OH)2). According to the invention, tlie concentration of reinforcing filler is 3 to 50 wt % in relation to the total mass of tlie molding compound.

Abstract: A screw includes a screw main body, a conveyance portion conveying a raw material, and a passage provided in the screw main body. The passage includes a first passage element, a second passage element, and a third passage element. The screw main body has a plurality of cylindrical bodies arranged in an axial direction of the rotating shaft. At least a portion of the conveyance portion is formed on outer peripheral surfaces of the cylindrical bodies adjacent to each other, and the passage is formed in the cylindrical body so as to cross over between the adjacent cylindrical bodies.

Abstract: A blow molded multilayer article with a hollow body and a wall being formed by at least three layers including a first skin layer, a second skin layer and a core sandwiched between the first and second skin layers. The skin layers can include a first thermoplastic material and an effect pigment and/or a porogen. The core can include recycled thermoplastic material and pigment and/or dye. The article can contain greater than 30% recycled thermoplastic material.