Abstract: A membrane for a CMP carrier head includes a circular lower portion that provides a substrate mounting surface for a central region of a substrate, a first plurality of flaps that extend upward from the circular lower portion to form a plurality of inner chambers, an annular upper portion that provides a lower surface for applying pressure to an annular outer region of the substrate, and a second plurality of flaps that extend upward from the annular upper portion to form a plurality of independently pressurizable outer chambers. The annular upper portion surrounds the circular lower portion and is vertically offset from the circular lower portion such that the lower surface is positioned above a plane defined by the circular lower portion, and the annular upper portion is coupled to an outermost flap of the first plurality of flaps.

Abstract: Example implementations relate to a sanding tool having an intermediate adapter pad. The sanding tool includes a rigid base plate configured for releasable attachment to a number of sanding handles. The sanding tool also includes an adapter pad that comprises: an upper portion configured to receive the rigid base plate, the upper portion including a perimeter portion that extends above an upper surface of the rigid base plate; and a lower surface configured for releasable attachment to a lower pad, wherein a lower surface of the lower pad is configured for releasable attachment to a working material. The perimeter portion includes a channel configured to receive a bristle ring.

Abstract: A substrate processing system configured to process a combined substrate in which a first substrate and a second substrate are bonded to each other includes a processing apparatus configured to grind the first substrate; a first thickness measuring apparatus configured to measure a thickness of the first substrate before being ground by the processing apparatus and a total thickness of the combined substrate including the first substrate; and a second thickness measuring apparatus configured to measure the thickness of the first substrate after being ground by the processing apparatus.

Abstract: A chemical mechanical polishing system includes a support configured to hold a substrate face-up, a polishing article having a polishing surface smaller than an exposed surface of the substrate, a port for dispensing a polishing liquid, one or more actuators to bring the polishing surface into contact with a first portion of the exposed surface of the substrate and to generate relative motion between the substrate and the polishing pad and optically transmissive polymer window, an in-situ optical monitoring system, and a controller configured to receive a signal from the optical in-situ monitoring system and to modifying a polishing parameter based on the signal. The optical monitoring system includes a light source and a detector, the in-situ optical monitoring system configured to direct a light beam from above the support to impinge a non-overlapping second portion of the exposed surface of the substrate.

Abstract: A method of tuning the contact pressure across an abrasive disc is presented. The method includes coupling the abrasive disc to a backup pad comprising a pressure tuning feature that causes an experienced pressure by a worksurface, across a radius of the abrasive disc, to be uniform. The method also includes abrading a worksurface by contacting the abrasive disc to the worksurface. The backup pad causes the abrasive disc to have a cut rate that is substantially uniform across the surface of the abrasive disc when compared to the abrasive disc on a backup pad with no pressure tuning feature.

Abstract: Disclosed is a disk-shaped radial brush for grinding or polishing, including a plate-shaped central body having two side faces and a substantially central opening, and having a plurality of bristles radially extending away from the central body. In order to achieve an assembly of these radial brushes into brush rollers, it is proposed to provide the central body with protrusions on at least one of the side faces and with corresponding receiving members on the other side face. This allows utilizing corresponding radial brushes in brush rollers without slippage of individual radial brushes or without compressing them too much in order to avoid said slippage and thereby deforming them.

Abstract: In a method for the production of a grinding tool, a metal layer (3) is applied to an auxiliary body (7). After separating the metal layer (3) from the auxiliary body (7), the metal layer (3) is fixed to a tool base body. A grinding layer is then applied to the metal layer (3). The method allows a simple and economical production of a grinding tool that can be used without restriction in lightweight construction.

Abstract: A clamp assembly for selectively securing a movable object relative to a fixed object is provided. The clamp assembly enables a movable object to be selectively disposing relative to an adjacent fixed object, within a space defined in part by the adjacent fixed object and another fixed object. The clamp assembly has a frame providing a slot for the movable object and a jack portion for the adjacent fixed object. The jack portion has a threaded support rod mated with a threaded fastener. The support rod ends in an engagement surface that applies a selective amount of force against the fixed object, and thus applies an opposing force against the movable object within the slot, depending on the selective amount of mating of the support rod and the threaded fastener. Thereby, a user may position the movable object in a spaced apart relationship with the adjacent fixed object.

Abstract: A hand tool including a first assembly including a first handle and a first jaw, a second assembly including a second handle pivotally connected to the first handle and a second jaw pivotally connected to the second handle, a link member, and a link adjustment member movably connected to the first handle. The link adjustment member is configured for engaging with and axially moving the first end of the link member for adjusting a force applied by the first jaw and the second jaw onto the element in the closed position. The hand tool further includes a cutting assembly including a cutting member connected to the second jaw. The cutting member is configured for cutting the element.

Abstract: A screwdriver allows a screwing operation and an unscrewing operation to be performed smoothly. A screwdriver includes a housing, a motor including a stator and a rotor, a spindle, a clutch assembly, and a spindle locking assembly. The spindle includes a rod to which a tip tool is attachable, and is supported by the housing in a manner movable between an advanced position and a retracted position in a front-rear direction. The spindle has a reception hole extending frontward from a rear end face of the spindle. The clutch assembly transmits a rotational force from the rotor to the spindle in response to the spindle moving to the retracted position during forward rotation of the rotor. The spindle locking assembly transmits a rotational force from the rotor to the spindle during reverse rotation of the rotor, and includes the reception hole, and a countershaft placed in the reception hole.

Abstract: A flexible head joint for a tool, such as a motorized ratcheting-type tool. The flexible joint also allows an output mechanism of the tool, such as a ratchet head, to be disposed at an angle with respect to a housing to the tool, which houses a motor. For example, the first shaft is pivotably coupled to a first connector, which may have a tongue shaped portion. The second shaft is pivotably coupled to a second connector, which may have a slotted portion adapted to receive the tongue portion. This provides two pivot points that have parallel axes.

Abstract: A tool bit including a drive portion, a tip, and a body. The drive portion is disposed at a first end of the tool bit and is configured to be coupled to a tool. The tip is disposed at a second end of the tool bit opposite from the drive portion. The tip includes a target region treated by laser peening. The target region is spaced from an end of the tip. The body extends between the drive portion and the tip.

Abstract: A clip apparatus is provided for use with a faucet tool. The faucet tool has an elongated body. The clip apparatus includes a biasing member structured to be coupled to and flex with respect to the elongated body, a light emitting component coupled to the biasing member, a power source located internal with respect to the biasing member and configured to energize the light emitting component, and a button mechanism coupled to the biasing member and configured to activate the power source in order to energize the light emitting component.

Abstract: A bolt tensioner (1, 100) having a load cell (30, 130) with at least one piston (41, 141) and a piston retraction mechanism. The bolt tensioner (1, 100) has a first fluid port (33) and a second fluid port (35), each in fluid communication with the at least one piston (41, 141) for receiving a pressurised fluid to apply thereto a tensioning force and return force respectively. The piston (41, 141) can be operated in each of the tensioning and retraction directions under fluid pressure.

Abstract: A portable linear fastener driving tool is provided that drives staples, nails, pins, or other linearly driven fasteners. The tool uses a gas spring principle, in which a cylinder filled with compressed gas is used to quickly force a piston through a driving stroke movement, while a driver also drives a fastener into a workpiece. The piston/driver is then moved back to its starting position by use of a rotary-to-linear lifter, and the piston further compresses the gas above the piston, thereby preparing the tool for another driving stroke. In an illustrated embodiment, the tool exhibits an inverted U-shape tri-chamber design for the central cylinder, a left-side pressure chamber, and a right-side pressure chamber. In one illustrated embodiment, the lifter motor is configured to have its longitudinal axis substantially parallel to the longitudinal axis of the working cylinder, thereby making this tool more compact. Other embodiments show the angle to be between 0-90 degrees.

Abstract: The invention provides a pneumatic nail gun, comprising a gun body, a nail box, a fork and a nail forming device. The gun body comprises a sliding groove, a nail outlet adjacent to the sliding groove and a push block. The nail box and the fork are fixed on the gun body. The nail box is configured to place a plurality of strip nails to be sequentially exposed from the nail outlet. The formed fork comprises two forming surfaces with unequal heights, and the two forming surfaces are adjacent to the nail outlet. The nail forming device comprises two jaw arms, two control arms and a push seat, and the push block drives the two control arms to drive the two jaw arms to rotate and close the two forming jaws, and to drive the push seat to slide on the sliding groove.

Abstract: A working tool with further improved fastener driving accuracy is realized. A driving tool includes a driver blade configured to strike a fastener and drive it into a driving surface, a blade guide configured to form an ejection path through which the fastener struck by the driver blade passes, and a probe that is movable in a top-bottom direction and contacts to the fastener ejected from the ejection path to guide the fastener. The blade guide is provided with a limiting portion configured to limit an upward movement amount of the probe such that the probe does not reach a predetermined position when the probe moves upward in a state in which a striking direction of the fastener is inclined by a predetermined angle or more with respect to the driving surface.

Abstract: A power tool having a hammer mechanism includes a motor, a driving mechanism operably connected to the motor and configured to at least linearly drive a tool accessory along a driving axis, a tool body that houses the motor and the driving mechanism, an outer housing elastically connected to the tool body such that the outer housing at least partially covers the tool body and being slidable relative to the tool body in a first direction substantially parallel to the driving axis, a guide part configured to guide sliding movement of the outer housing relative to the tool body, and a handle including a grip part extending in a second direction, the handle being elastically connected at least to the outer housing and being movable relative to the outer housing in the first direction and in at least one direction that intersects the first direction.

Abstract: The clamping support heads disclosed herein provide a clampable mouth having jaws that can securely hold and permit movement of a variety of different size and/or shape objects. The objects may be quickly attached and quickly removed from the clamping support heads. A repositioning clutch allows for rotational repositioning of a clamped object. The repositioning clutch may include a clutch body attached to a stem of a stand, a friction ring seated to a clutch body, a bearing plate sharing a bearing interface with the friction ring, a clutch shaft extending through the clutch body, the friction ring, and the bearing plate to a terminal end, and a clutch adjustment handle screwed onto the terminal end of the clutch shaft. Rotation of the clutch adjustment handle adjusts compression force on the bearing interface between the friction ring and the bearing plate to secure or release the object from rotation.

Abstract: A storage system includes a panel secured to a support surface and a storage container removably supported on the panel. The panel includes a plurality of cleats. The storage container includes a first container portion, a second container portion, and a support feature engageable with the cleats. The second container portion and the first container portion are pivotably movable between a closed position and an open position. The support feature includes a first partial mounting portion and a second partial mounting portion. The second partial mounting portion is movable between a stowed position and an extended position. The first partial mounting portion and the second partial mounting portion cooperate to provide a mounting interface to engage the cleats while the second partial mounting portion is in the extended position.

Abstract: The present disclosure discloses an assembling and disassembling-facilitated tool rack. The tool rack includes a base, supporting rods, a top plate, supporting plates and screws. The base is provided with several first threaded holes. Bottoms of the supporting rods are provided with threaded columns. The top plate is provided with, first through holes. The supporting plates are provided with second through holes. The supporting plates are clamped between adjacent upper and lower supporting rods. The screws are in threaded connection to the second threaded holes of the supporting rods on the uppermost layer. The top plate is clamped between the screws and the supporting rods on the uppermost layer.

Abstract: An active shooter response robot enabling real-time audio and video data collection and additional functionality for the application threat-elimination tactics, including negotiations, against an active shooter. The active shooter response robot is unmanned and non-autonomous as it is controlled remotely by a human operator. The active shooter response robot provides a bullet-proof compartment for storing offensive deterrence and equipment that can be brought to bear during an active shooting situation.

Abstract: A robot for transporting cargo boxes includes a drive unit, a cargo box storing unit and a cargo box delivery unit. The drive unit carries the cargo box storing unit and the cargo box delivery unit and moves them jointly therewith. The cargo box storing unit includes a plurality of cargo box storing spaces. The cargo box delivery unit is coupled to the cargo box storing unit and configured to move along the cargo box storing unit in a vertical direction and transfer the cargo boxes between the cargo box storing spaces and a shelf.

Abstract: A torso support for bearing upon a chest and/or a back of a human body includes a frame, and first and second connection arrangements. The frame includes a resilient stay arranged to extend substantially alongside the back of the human body and arranged for being in a first state when being unloaded, and arranged to be biased back to the first state when being into a second state corresponding with a leaning or bending position of the human body. The first connection arrangement arranged for connecting the torso support to the human body. The second connection arrangement arranged for connecting the torso support to a wearable support structure for at least further partly supporting the human body during leaning or bending over. The wearable support system includes the torso support and the wearable support structure.

Abstract: A system for assisting an operator in exerting efforts comprises a garment that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation that is to assume a position corresponding to the joint of the operator. A device is carried by the garment and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.

Abstract: An electrically-insulating insulating cover is for a bracket having a hollow structure. The bracket is attached to a tool attachment surface of a hollow arm member, and has a hollow hole that allows a wire body to pass therethrough from a hollow portion in the arm member into an interior of the bracket through an opening on the tool attachment surface. The insulating cover is disposed in the interior of the bracket, and covers both bracket fixtures for fixing the bracket to the tool attachment surface and the hollow hole.

Abstract: Various embodiments illustrated herein disclose a robotic system. The robotic system includes a moveable base, a conveyor system disposed on the movable base, a vertical mount coupled to the movable base by one or more vertical actuation devices, and a plurality of robotic manipulators, each having a first end mounted to the vertical mount and a second end having an end effector. The plurality of robotic manipulators are mounted above the conveyor system and operate in a vertical place to individually load items to or unload items from a logistics container.

Abstract: A robot arm includes a plurality of links and a plurality of joints connecting the links for adjustment relative to one another. At least a first link has a first bearing pin, a second bearing pin located opposite the first bearing pin, and a second link connected in an articulated manner to the first link by one of the joints has a first bearing flange on which the first bearing pin of the first link is rotatably mounted, and has a second bearing flange on which the second bearing pin of the first is rotatably mounted. The first bearing flange of the second link has a circumferentially closed recess in which the first bearing pin of the first link is received, and the second bearing flange of the second link has a circumferentially open recess in which the second bearing pin of the first link is received.

Abstract: A soft continuum robotic module comprises a plurality of inflatable actuators disposed between plates. Via inflation or deflation of one or more of the actuators, the module may extend, contract, twist, bend, and/or exert a grasping force. One or more modules may be combined to form a robotic arm with multiple degrees of freedom.

Abstract: A robot includes a self-propelled carriage, one or more robotic arms that are mounted on the carriage and allow an end effector to be attached thereto and detached therefrom, a storage that is mounted on the carriage and allows, to be stored, the end effector removed from the one or more robotic arms and the end effector to be attached to the one or more robotic arms, and a covering that is mounted on the carriage and covers the storage from above.

Abstract: A robot control system, a robot control method, and a robot. The robot control system includes a motion control unit configured to perform motion control of a robot, and a rectifier control unit which includes an AC-DC control unit configured to generate a rectifier control signal for driving a rectifier power stage. The rectifier power stage is bcing configured to convert AC power from a grid into DC power. The robot control system also includes a safety control unit configured to generate a safety control signal for selectively turning on or off safety switches connected to an output of the rectifier power stage. The robot control system also includes a motor control unit configured to perform motor control of the robot.

Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.

Abstract: Training and/or using a recurrent neural network model for visual servoing of an end effector of a robot. In visual servoing, the model can be utilized to generate, at each of a plurality of time steps, an action prediction that represents a prediction of how the end effector should be moved to cause the end effector to move toward a target object. The model can be viewpoint invariant in that it can be utilized across a variety of robots having vision components at a variety of viewpoints and/or can be utilized for a single robot even when a viewpoint, of a vision component of the robot, is drastically altered. Moreover, the model can be trained based on a large quantity of simulated data that is based on simulator(s) performing simulated episode(s) in view of the model. One or more portions of the model can be further trained based on a relatively smaller quantity of real training data.

Abstract: A robot transmits a command to control an external device around the robot based on pre-stored environment information while the robot is operating in a learning mode. The external device makes a noise as part of its operation. Also, the robot outputs user speech for learning while the external device is operating. The robot learns a speech recognition model based on the noise and speech of a user acquired through a microphone of the robot. The speech recognition model is then used by the robot or by another device to better understand the user when the user talks. The robot is then able to more accurately understand and properly execute speech commands from the user.

Abstract: A control method of the composite robot includes acquiring multiple forces and multiple torques collected by the force sensor in the current motion when the robot arm is pulled to move; calculating multiple displacement value sets according to the multiple forces, the multiple torques, a preset desired force, a preset desired torque, and a preset model; calculating the optimal solution according to the multiple displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism; controlling the robot arm and the motion mechanism to move according to the first target displacement value and the second target displacement value; and repeating the operation of acquiring multiple forces and multiple torques collected by the force sensor in the current motion until the robot arm and the motion mechanism stop moving.

Abstract: Embodiments herein generally relate to methods, systems and devices for automated assembly of building structures. In at least one embodiment, there is provided a method for automated assembly of building structures, the method comprises analyzing assembly data associated with a building structure; based on the analyzing, determining an assembly sequence for assembling building parts to construct the building structure, wherein the assembly sequence comprises a plurality of assembly tasks; generating robot-specific control instructions, for each of one or more assembly robots in a robotic assembly cell, to execute the assembly sequence; and transmitting the robot-specific control instructions to the one or more assembly robots in the robotic assembly cell.

Abstract: In a recommended load determining device (10) utilizing an estimation model (18) that outputs a parameter related to a capability of a user calculated based on load data expressing a load imparted to the user and on motion data expressing motion of a single motion unit of the user under the load, an acquisition section (12) acquires load data expressing a load imparted to a target user who is a target for determining a recommended load, and motion data expressing motion of a single motion unit of the target user under the load, and a determination section (20) determines recommended load data expressing a recommended load for the target user based on a parameter related to the capability of the target user as output from the estimation model (18) by inputting the acquired load data and the acquired motion data into the estimation model (18).

Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. A trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. The cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.

Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.

Abstract: A control device for a robot including a three-dimensional sensor includes a definer that defines a scan area being an area measurable by the three-dimensional sensor and an object-free area being an area in which the robot is permitted to move to measure the scan area, and an operation controller that moves the three-dimensional sensor to measure the scan area by controlling an operation of the robot to cause the robot to move within the object-free area.

Abstract: An information processing method includes in performing an interference confirmation between a first component and a second component, executing a threshold setting processing of setting a threshold for a piece of information that defines a movement of the first component or the second component, and executing an interference confirmation processing of performing the interference confirmation using the threshold set for the information.

Abstract: Embodiments of the present application relate to the field of virtual simulation technologies, and provide a robot offset simulation method and apparatus, a robot, an electronic device, and a storage medium. The robot offset simulation method includes: establishing a reference path for a virtual robot in simulation software, where the reference path is a path along which the virtual robot moves to transfer a reference object from a preset starting point to a destination location and then returns to the preset starting point; receiving location information of a target object that is sent by a PLC; determining an offset of the virtual robot based on the location information, where the offset is a location offset of the target object relative to the reference object; and controlling, based on the reference path and the offset, the virtual robot to move to transfer the target object.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: This application provides a coordinate system calibration method, an automatic assembly method, and an apparatus. In the coordinate system calibration method, measured values of a measured parameter of a target object are separately measured at two different calibration heights, and then a target calibration height that matches an actual value of the measured parameter is obtained based on the two different calibration heights and the corresponding measured values of the measured parameter. This solution is not only applicable to a planar object but also applicable to a curved object.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: Provided is an information processing device that controls a motion of a robot having a torso and a head. The information processing device includes an acquisition section that acquires an image of a face of a user that is captured by a camera of a mobile terminal device, a motion detection section that detects an orientation of the face of the user from the acquired image, a control signal generation section that generates a control signal for rotating the first or the second rotating device of the robot according to the detected orientation of the face of the user, and a transmission section that transmits the generated control signal to the robot.

Abstract: A robot device is provided. The robot includes a movement unit moving the robot device, a body unit coupled to an upper end of the movement unit and including a tray capable of accommodating an object and a support unit supporting the tray at a certain height, a memory, and a processor configured to receive an external input including information about a target table, control, based on the information about the target table, the movement unit to move to the target table, start to rotate the body unit independently of the movement unit as the movement unit is located at a first certain distance from the target table during movement thereto, and stop the rotation of the body unit when a side surface not covered by the support unit among side surfaces of the tray is parallel to a side surface of the target table.

Abstract: Exemplary embodiments of the present disclosure directed towards a non-destructive device configured to survey, inspect, and clean marine growth, comprising: manipulators comprising adjustable clamps configured to move or rotate 360 degrees for holding at least one cylindrical shape of an offshore structure; a plurality of hydraulic rams configured to hydraulically operate and control the plurality of manipulators; a central part comprising a camera and light emitting diodes configured to provide visual aid to a user and a lidar configured to determine ranges by targeting the offshore structure with a laser and measure the time for reflected light to return to a programming logic circuit board; probes configured to survey angular and distance measures of objects around the offshore structure, and inspections of safety and security of the offshore; and a high pressure jetting nozzle configured to clean the marine growth and rotary arms of the offshore structure.

Abstract: A modular force/torque sensor system is disclosed. In various embodiments, a sensor interface device includes a first communication interface configured to receive an analog output associated with a sensor located remotely from the sensor acquisition device; a processor configured to use the analog output associated with the sensor to generate a sequence of discrete values derived from the analog output associated with the sensor; and a second communication interface coupled to the processor and configured to send at least a subset of the sequence of discrete values derived from the analog output associated with the sensor to a control module.

Abstract: Embodiments of a deformable gripper are described. The deformable gripper comprises a base, a first inner membrane and a second inner membrane coupled to the base, an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane, and an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to the expansion and contraction of at least one of the first inner membrane and the second inner membrane.