Abstract: A powered fastener driver includes a driver unit, a handle unit, and a handle extension. The handle unit is selectively and removably attachable to the driver unit. The handle extension has a first end and a second end, the handle extension being selectively and removably attachable to the driver unit at the first end, and being selectively and removably attachable to the handle unit at the second end. The powered fastener driver is adjustable between a first configuration in which the handle unit is directly attached to the driver unit, and a second configuration in which the driver unit is attached to the handle extension at the first end, and the handle unit is attached to the handle extension at the second end.

Abstract: The disclosure is generally directed to handles or hand grips, and more specifically, to handles with attached instruments, compositions of matter used to make such handles, and methods of making and using the same.

Abstract: A hand tool with a function of preventing electronic shock includes a tool body, a basic insulation layer and a skidproof insulation layer. The basic insulation layer is formed on the tool body and has holes exposing a part of the tool body. The skidproof insulation layer is formed on the basic insulation layer to cover the holes. Annular protrusions are formed on the outer surface of the basic insulation layer or the inner surface of the skidproof insulation layer and are closer to edges of the basic insulation layer and the skidproof insulation layer than the holes. Therefore, it is possible to prevent electric shock caused by the seeping of moisture or liquid between the basic insulation layer and the skidproof insulation layer.

Abstract: Various embodiments of layout tool devices and systems are provided. In various embodiments, the layout tool devices and systems improve layout work flow using layout tools, such as via using lasers and/or customized flexible elongate structures to facilitate marking points along a line, including systems with multiple devices, such as mobile devices, that emit lasers in combination with the other devices in the system.

Abstract: Various examples are provided related to control of a wearable robot without torque sensors. In one example, a method includes generating a control signal for a quasi-direct-drive (QDD) actuator of the wearable robot and adjusting operation of the QDD actuator based upon the control signal. The control signal can be determined by a collocated controller using current and angle of rotation of the QDD actuator and a reference trajectory angle. In another example, a wearable robot includes a support structure that can interface with a user; a quasi-direct-drive (QDD) actuator coupled to the support structure; and processing circuitry that can generate a control signal for the QDD actuator, the control signal determined by a collocated controller based upon current and angle of rotation of the QDD actuator and a reference trajectory angle and adjust operation of the QDD actuator based upon the control signal.

Abstract: Various examples are provided related to continuous control of exoskeletons. In one example, a method includes obtaining IMU sensor signals associated with an exoskeleton attached to a limb of a subject; generating an exoskeleton control signal in response to the IMU sensor signals, the exoskeleton control signal generated by a control policy neural network trained offline from the exoskeleton using musculoskeletal human modeling and exoskeletal modeling with dynamics randomization; and controlling joint torques of the exoskeleton exerted on the subject based upon the exoskeleton control signal.

Abstract: A substrate conveyor robot includes a guide rail cover arranged on a lateral side of the guide rail to cover an upper part of a guide rail that is exposed when an up-and-down mover moves downward. The base link includes the guide rail cover.

Abstract: Aspects of the present disclosure involve systems and methods, which can include, for receipt of a pallet involving a plurality of objects, controlling a robotic arm to depalletize each of the plurality of objects from the pallet according to a position, orientation, and weight of the each of the plurality of objects retrieved from a database.

Abstract: A robotic arm mount assembly includes a first mount with a main body, the main body including a first end and a second end opposed to the first end in an axial direction, the first end including a first mounting portion. The robotic arm mount assembly also includes a motor including a motor body and a motor shaft attached to the motor body, a pinion gear attached to the motor shaft, a rack to be driven by the pinion gear, and a second mount including an extension portion and a second mounting portion.

Abstract: A drive structure of a desktop robotic arm is disclosed, including a base and a turntable. The base is internally provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected to the turntable drive shaft, and the turntable drive shaft is drive-connected to the turntable. The turntable is provided with an upper arm drive motor and a forearm drive motor. The turntable drive motor, the upper arm drive motor and the forearm drive motor are all servo motors with absolute value encoders. According to the drive structure of the desktop robotic arm, by using servo motors as the drive motors for controlling the turntable, an upper arm and a forearm, for which the absolute value encoders are correspondingly configured, control accuracy and driving power can be improved. Further, the present invention also discloses a desktop robotic arm and a robot.

Abstract: An autonomous mobile device includes a processor to establish a Transmission Control Protocol Robot Operating System (TCPROS) connection over a Protocol Data Unit (PDU) session between the AMD and a Multi-Access Edge Computing (MEC) device that hosts an AMD controller in a cellular network, from the AMD the AMD controller. The processor may perform a mission in accordance with the mission plan while the AMD is connected to the AMD controller via the TCPROS connection.

Abstract: Methods, apparatus, and processor-readable storage media for implementing an automated data center robotic system using artificial intelligence techniques are provided herein. An example computer-implemented method includes obtaining one or more items of data, external to an automated robotic system, from a data center environment; determining one or more automated operations to be carried out by the automated robotic system within the data center environment by processing at least a portion of the one or more items of data and one or more user-provided commands using at least one artificial intelligence-based inference engine; generating one or more instructions related to carrying out the one or more automated operations within the data center environment; and performing at least a portion of the one or more automated operations within the data center environment based at least in part on the one or more instructions.

Abstract: A control device according to an aspect of the present invention comprises: a progress information output unit that determines the progress of work on the basis of sensor data, obtained from at least one among a work device and the work environment of the work device, and sensor data during normal progress of the work device, and outputs progress information indicating the progress of work; a management unit that generates an operation command of the work device on the basis of the progress information, and outputs the operation command; and a control unit that generates a driving signal for driving the work device on the basis of the operation command and the sensor data, and outputs said driving signal to the work device.

Abstract: A method and system for robot motion control using a model predictive control (MPC) technique including torque rate control and suppression of end tooling oscillation. An MPC module includes a robot dynamics model which inherently reflects response nonlinearities associated with changes in robot configuration, and an optimization solver having an objective function with a torque rate term and inequality constraints defining bounds on both torque and torque rate. The torque rate control in the MPC module provides an effective means of controlling jerk in robot joints, while accurately modeling robot dynamics as the robot changes configuration during a motion program. End tooling oscillation dynamics may also be included in the MPC objective function and constraints in order to automatically control end tooling vibration in the calculations of the MPC module.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for converting between different representations of collision exclusion relationships. One of the methods includes identifying a plurality of cliques in a collision exclusion graph. A bitmask representing collision exclusion relationships between the particular object and other objects in the robotic operating environment is generated using the identified cliques. A simulation of executing a robotic control plan for a robot in the robotic operating environment is performed using the generated bitmasks to detect collisions.

Abstract: An interference determination device includes a registration unit that registers a start point and an end point of a motion of a robot, an interference determination unit that determines whether the robot interferes with an obstacle when the robot moves along a path from the start point to the end point, and an interference determination condition registration unit that registers an interference determination condition including at least one of an interference allowable distance that allows the interference with the obstacle, a positional error that is included in a relative position between the robot and the obstacle when the relative position is grasped, and a synchronization time error when the obstacle is a movable object that moves along a predetermined path in synchronization with the motion of the robot. The interference determination unit determines whether the robot interferes with the obstacle in consideration of the interference determination condition.

Abstract: Aspects of the disclosure are directed towards generating a trajectory for use by a robot to perform an operation on a target object. A method includes a robot instructed to traverse a surface of the target object from the starting position and obtain sensor input from a sensor system of the robot using a first trajectory specified by a CAD file for the target object. Sensor input that includes a first height to the target object, a width of the seam, and a depth of the seam may be received. A second trajectory may be generated for traversing the surface of the target object and that modifies the first trajectory based on the sensor input. The robot may be instructed to move to the starting position and traverse the surface of the target object using the second trajectory and apply a sealant to the seam.

Abstract: A first robot (104) is arranged in association with a belt conveyor (101), and performs a first transfer operation of picking up a product such as a blank material conveyed by the belt conveyor (101) and stacking it on a relay table (102). A second robot (108) performs a second transfer operation of transferring a loaded body of a plurality of blank materials stacked on the relay table (102) to a pallet table (103).

Abstract: The method S100 can include: providing bowls within the workspace based on the assembly context S105; sampling sensor data for the workspace S110; detecting bowls based on the sensor data S120; determining a labeled training dataset S130; and training a classifier for the assembly context S140. However, the method S100 can additionally or alternatively include any other suitable elements.

Abstract: An automated gas supply system includes a gas cylinder transfer unit configured to transfer a cradle in which one or more gas cylinders storing a gas therein are stored; a gas cylinder inspection unit configured to check properties of the gas stored in the gas cylinder transferred from the gas cylinder transfer unit and check whether the gas leaks from the gas cylinder; a storage queue configured to receive the gas cylinder from the gas cylinder inspection unit by a mobile robot and configured to classify and store the transferred gas cylinders according to the properties of the gas stored in the gas cylinder; and a gas cabinet configured to receive the gas cylinder from the storage queue by the mobile robot and fasten a gas pipe, which is connected to a semiconductor manufacturing process line, to a gas spray nozzle, which is disposed at one side of the received gas cylinder, to supply the gas stored in the gas cylinder to the semiconductor manufacturing process line, wherein the gas cabinet includes a resid

Abstract: A robotic platform associated with one or more software services enables remote users to interact with an environment and other humans physically and visually through a robotic surrogate over any distance utilizing the internet. The robotic surrogate is controlled through a non-technical user interface which responds to user control inputs made through natural user arm movements which are tracked in three dimensional space.

Abstract: A calibration apparatus calculates, from a result of detecting a first marker by a first sensor that is attached to a predetermined position on a mobile robot, a posture of the first marker relative to the first sensor; calculates, from a result of detecting a second marker by a second sensor that is attached to a position different from the predetermined position on the mobile robot, a posture of the second marker relative to the second sensor; and at least calculates the posture of the second sensor relative to the origin from the posture of the first sensor relative to the origin, the posture of the first marker relative to the first sensor, the posture of the second marker relative to the first marker, and the posture of the second marker relative to the second sensor.

Abstract: A system for performing surface maintenance based on one or more detected environmental factors for a surface monitored for maintenance. The system includes a surface monitoring assembly that monitors a surface for one or more environmental factors, such as a traffic pattern in a cleaning application, and the assembly may utilize one or more video cameras focused on a monitored surface along with video analytics software to process captured video to identify an environmental factor, such as heavy traffic, a spill, or the like. When an environmental factor is detected, the assembly passes this data to a maintenance control routine that processes the data to determine whether to vary the operations of an automated robot maintenance system provided in the system. The data can be used to define or modify a location, a time, and/or a parameter of a maintenance task or function (e.g., vacuuming versus wet mopping).

Abstract: An autonomous traverse tire changing bot includes a carriage having a carriage frame with a carriage drive section effecting autonomous traverse of the carriage, along a traverse path, relative to a traverse surface or a floor on which the bot rests, and a bot frame including at least one actuator mounted to the carriage and a bot drive section with a motor defining an actuator degree of freedom, wherein the at least one actuator has an end effector having a tire engagement tool disposed so that articulation of the at least one actuator with the actuator degree of freedom effects engagement contact of the tire engagement tool and a tire mounted on a vehicle, and a controller effects traverse of the bot along the traverse path effecting dynamic positioning of the at least one actuator relative to a variable position of the vehicle with the tire mounted thereon.

Abstract: A virtual robot image presentation method and an apparatus are provided to improve virtual robot utilization and user experience. In this method, an electronic device generates a first virtual robot image, and presents the first virtual robot image. The first virtual robot image is determined by the electronic device based on scene information. The scene information includes at least one piece of information in first information and second information, the first information is used to represent a current time attribute, and the second information is used to represent a type of an application currently running in the electronic device. According to the foregoing method, in a human-machine interaction process, virtual robot images can be richer and more vivid, so that user experience can be better, thereby improving virtual robot utilization of a user.

Abstract: A robotic lifting and orienting system for an overspray-free paint system includes: a base coupled to wheels; and an automated carrier coupled to the base. The automated carrier includes: a fixture assembly configured to hold an object to be painted; one or more manipulators configured to move the fixture assembly relative to a paint robot; a propulsion system connected to the wheels and configured to move the robotic lifting and orienting system; and a control module configured to control the one or more manipulators and the propulsion system to control positioning and orienting of the object relative to at least one of the paint robot and an overspray-free paint applicator of the paint robot.

Abstract: Provided is a robot control device that eliminates the need to alternate between a transfer operation executed with a robot teaching operation panel and a confirmation operation executed with a screen of a programmable logic controller. This robot control device is connected to a programmable logic controller and controls a robot, wherein the robot control device is provided with: a transfer unit that transfers a current position of the robot to the programmable logic controller in order to store the current position in a prescribed region within the programmable logic controller; an acquisition unit that acquires, from the programmable logic controller, the current position stored in the programmable logic controller or information related to the current position; and a display control unit that displays the acquired current position or information related to the current position to a screen of a robot teaching operation panel.

Abstract: A process of interacting with objects is provided including a robot with an end effector, a driver of the end effector and sensors for acquiring at least one environmental or interaction parameter; a computer for controlling the robot; an instruction block configured to instruct the robot to move the end effector according to instructions defined by the instruction block.

Abstract: A cutting device includes a base plate, a motor attached to the base plate, a driving cord including a first end and a second end, the first end being attached to the motor, and a cutting assembly. The cutting assembly includes a fixed blade that is fixed to the base plate, and a driven blade that moves with respect to the fixed blade. The second end of the driving cord is attached to the driven blade to move the driven blade with respect to the fixed blade when the motor rotates.

Abstract: An integrated joint module includes a housing, a driving assembly, a speed reduction assembly, a braking assembly and an encoding assembly. The housing includes a first housing and a second housing, an annular supporting platform is arranged on an inner side of the first housing. The driving assembly includes an output shaft, a stator embedded in the annular supporting platform, and a rotor connected with the output shaft and arranged on an inner side of the stator, the speed reduction assembly and the braking assembly are connected with two ends of the output shaft. The encoding assembly is arranged on a side of the braking assembly away from the driving assembly and connected with the output shaft, the second housing is sleeved on the encoding assembly and connected with the first housing. The integrated joint module helps to simplify the structure of the joint module and reduce the cost.

Abstract: Provided is a bending structure that can be reduced in diameter. The present invention is provided with a bending part 9 which has an elastically bendable and expandable inner coil part 13 and outer coil part 15, and in which a corresponding winding section 13a of the inner coil part 13 is fit in the space between adjacent winding sections 15a of the outer coil part 15. At least one of the inner and outer coil parts 13 and 15 is conductive and forms a conductive path P1. The bending part 9, which is capable of suppressing compression in the axial direction, enables the formation of the conductive path P1 without the need of another conductive line or the like, thereby simplifying the structure.

Abstract: The present disclosure provides a collaborative robot arm and a joint module. The joint module includes a housing, a driving assembly, and a multi-turn absolute encoder. The joint module detects the angular position of the output shaft and records a number of rotating revolutions of the output shaft only by means of the multi-turn absolute encoder. The multi-turn absolute encoder includes a base, a bearing, a rotating shaft, an encoding disk, and a circuit board, the encoding disk is rotatably connected with the base by the rotating shaft and the bearing, the circuit board is fixedly connected with the base, and the reading head on the circuit board detects the angular position of the output shaft cooperatively with the encoding disk, making the multi-turn absolute encoder be an integrated structure. The base and the rotating shaft are detachably connected with the housing and the output shaft respectively.

Abstract: The present invention relates to a robotic arm, including: an upper arm and a front arm; a first joint structure, by which the upper arm and the front arm are articulated together; a second joint structure, arranged at an end of the upper arm and/or an end of the front arm; a first driving mechanism, arranged in the upper arm; and a second driving mechanism, arranged in the front arm, where the first joint structure includes a first force amplification apparatus and a first locking element, the second joint structure includes a second force amplification apparatus and a second locking element, and the first driving mechanism and the second driving mechanism apply an acting force to the first locking element and/or the second locking element by the first force amplification apparatus and/or the second force amplification apparatus.

Abstract: An arm-shaped structure includes a pipe-shaped main body and an attachment interface joined to at least one end of the main body and securable to another component. At least a portion of the main body and the attachment interface is formed by resin containing a continuous reinforcement fiber. The main body and the attachment interface are joined to each other in a state where relative movement along a longitudinal axis of the main body and around the longitudinal axis is prevented in accordance with engagement between a recess provided in one of the main body and the attachment interface and a protrusion provided in the other one of the main body and the attachment interface.

Abstract: Devices, methods, and systems for securing elongate items including but not limited to a device comprising a grabber portion having a loading zone and a sliding member; an actuator connected to the sliding member; and an extension portion comprising a pole; where the sliding member is biased toward the loading zone in an unactuated state, and the actuator is configured to move the sliding member so that the loading zone is open to receive an elongate item while the sliding member is in an actuated state.

Abstract: A power harness includes: a first connector connectable to a power supply; a second connector connectable to a power connector provided at a single actuator; and a connection cable that connects the first connector and the second connector to each other. At least a lengthwise section of the connection cable is a movable region constituted of a plurality of small-diameter cables arranged parallel to each other. A sum of allowable current values of all the small-diameter cables satisfies an allowable current value of the connection cable.

Abstract: A utility knife includes a handle having a body and a receiving aperture. The utility knife further includes a collet at least partially receivable in the receiving aperture, and a sleeve that is engageable with and that surrounds the collet. The collet is configured to alternately receive one of a portion of a blade of a first type in a first slot and a portion of a blade of a second type in a second slot. The collet and the sleeve are co-rotatable relative the handle to move the collet to a secured position in which one of the blade of the first type and the blade of the second type are secured to the collet.

Abstract: A device developed specifically to perform adhesive sheet cutting operation, with one antiskid face (Sandpaper), which is applied over a Skateboard Shape upper face. It is a grip (E1), in which rear end a geometric volume (V1) is formed, which upper face (F1) is bent downward; and between bent face (F1) highest region and grip (E1) rear end upper corner is formed by a recess (R1) with ‘C’ letter shape cross-section, and a knife end (N1) is slightly projected beyond recess (R1), limits, standing over bent face (F1) region.

Abstract: An aspect of the invention relates to a razor cartridge comprising a housing, a bottom cover comprising multiple steps and multiple razor blade assemblies. Each razor blade assembly is arranged on a respective step of the multiple steps and comprises a blade support and a razor blade attached to the blade support. The blade support comprises a first main surface and an opposite second main surface and at least one upwardly protruding member and at least one downwardly protruding member. The at least one upwardly protruding member of at least one razor blade assembly is configured to engage a second main surface of a blade support of an adjacent razor blade assembly. The at least one downwardly protruding member of at least one razor blade assembly is configured to engage a first main surface of a blade support of an adjacent razor blade assembly.

Abstract: A biaxial type sawing device includes a base, a worktable, a sawing unit, and a braking block. The worktable is disposed on the base for supporting a workpiece. The sawing unit has saw arm provided with a bottom end thereof pivoted to the worktable through a first shaft, a saw blade box pivoted to the top end of the saw arm through a second shaft, a motor assembled with the saw blade box, and a saw blade connected with the motor and partially covered by the saw blade box. The braking block is adjacent to the saw blade and pivoted to the second shaft. Therefore, when the saw blade touches an operator's hand, the braking block is triggered to press the saw blade, such that the saw blade is retracted away from the operator's hand together with the saw blade box, thereby enhancing safety in use.

Abstract: A series type continuous automatic ENF-grade plywood production line and a production method is set forth. The production line is at least composed of three serially connected independent process units with the same processing flow, which are core initialization, thickening circulation and product setting. Each process unit at least includes the following procedures: surface sanding, gluing, automatic lay-up, constant-thickness hot pressing, board overturning and cooling, defect scanning and repairing. The thickening circulation process unit can form a ring-shaped production line through a loop formed by the above procedures, or can form a linear production line by repeatedly extending above procedures. The present disclosure has the beneficial effects that the procedures of aging and prepressing of veneers, which lead to the stagnation of production process, are omitted, and the main obstacles in the continuous and automatic production of plywood are overcome.

Abstract: A device for providing edge bands has a storing unit having individual storage places, which are designed to be at least indirectly loaded with edge bands, in particular edge bands that each form an edge roller at least in some portions. The storing unit is arranged to be linearly movable in or on a base frame such that a selected edge roller can be moved into a working position in which the edge band located on the edge roller can be taken over by an edge feed of an edge banding machine. A portion of an edge band, in particular a portion unwound from an edge roller, can be separated at a cutting position in the region of the working position by means of at least one cutting arrangement.

Abstract: A sealant spreader device fills voids around a drilled hole with sealant in glued-in-rod (GIR) structures. A liquid sealant may be applied to the base of a drilled hole. A sealant spreader device is then inserted to the base of the drilled hole, through the sealant. The sealant spreader device is then withdrawn while rotating. The sealant spreader device includes winged sections having contours which force the sealant radially outward toward walls of the hole, into any voids around the circumference of the drilled hole, and leaves a thin layer of sealant around the circumference of the drilled hole.

Abstract: A chainsaw includes a chain, a liquid pump assembly, a motor, and a controller. The chain is used for implementing a cutting operation. The liquid pump assembly includes a liquid pump and a motor. The liquid pump is used for releasing a liquid for lubricating or cooling the chain. The motor is used for at least driving the liquid pump to operate. The controller is electrically connected to at least the motor. The controller is configured to, when the liquid pump is in the jammed state, control the liquid pump assembly to enter a throttling mode in which a supplied amount of the liquid is reduced, and when the liquid pump exits the jammed state, control the liquid pump assembly to exit the throttling mode. Technical solutions provided by the present application can determine and release the jammed state of the chainsaw.

Abstract: The present invention relates to the manufacturing a wood-polymer composite. It is directed to a method for manufacturing such a composite, including the provision of a wood element (1), the impregnation of the wood element with a lactic acid water-based solution (2), and then the thermal treatment of the impregnated wood element (3) at a heating temperature higher than a nominal temperature where the in-situ polymerization of the lactic acid is initiated, in order both to induce the diffusion of the lactic water-based solution acid water-based solution within the impregnated wood element and to initiate the in-situ polymerization of the lactic acid. According to the invention, the thermal treatment (3) includes the acceleration of the increase of the heating temperature and/or the decreasing of the nominal temperature.

Abstract: Provided is a lift table apparatus for log splitting. The lift table apparatus includes a lift frame, a lock pin, a control lever, and a cable. The lift frame is configured to be attached to a beam and a hydraulic cylinder of a log splitter. The lift frame is movable from a vertical position to a horizontal position by the hydraulic cylinder when the hydraulic cylinder is retracted. The lock pin is configured to be attached to the beam and locks the lift frame in the horizontal position. The control lever is configured to be attached to a hydraulic flow control valve of the log splitter. The cable is connected to the lock pin and the control lever. When the control lever is pulled out, the cable pulls the lock pin out to enable the lift frame to be released from the horizontal position and moved to the vertical position.

Abstract: A fiber distribution device to provide fiber material, such as straw fibers, coconut fibers, wood fibers or hemp fibers for a compacting device comprises a distributor box, wherein the distributor box has an interior with a connecting opening on the upper side and with a delivery opening on the underside for delivering the fiber material, and a distribution arrangement with a distribution arrangement housing, which has a connecting opening on the underside for connecting to the connecting opening of the distributor box on the upper side, and an inlet opening for feeding the fiber material.

Abstract: An engineered wood based siding, cladding or panel with a microstrand interface layer (MIL) applied to the top of the main strand matrix layers to minimize telegraphing, add rigidity and strength, and provide an improved surface appearance. The MIL comprises microstrands applied to the surface of the strand matrix or mat during production, prior to deposition of a fines layer. The MIL prevents the loss of fines into the strand matrix, and helps prevent or eliminate strand telegraphing.

Abstract: A method for producing three-dimensional molded parts from a fiber-containing material and a fiber processing device are described. In this case, a provision of separated fibers, an arrangement of the separated fibers to form at least one preform, wherein the at least one preform substantially corresponds to the shape of a molded part to be produced, and a pressing of the at least one preform to form a three-dimensional molded part take place. The fiber processing device at least has a feeding device for providing separated fibers; a premolding device, which has at least one premold for forming preforms from fibers fed separately, which corresponds to the final form of the molded part to be produced; a transfer device for transferring preforms provided via the at least one premold and made of fiber-containing material; and a molding device for pressing preformed preforms to form finished three-dimensional molded parts.

Abstract: The present disclosure relates generally to methods of analysing and manufacturing gypsum panels, for example, suitable for use as building surface products. The present disclosure relates more particularly to a method of forming a gypsum panel. The method includes forming a porous slurry layer on a receiving surface using a plurality of operating parameters, and allowing the porous slurry layer to set to form a gypsum core of a gypsum panel. The panel is then cut to form a cut surface that extends through the gypsum core, and an image of a region of the cut surface is captured. The image is analysed to identify bubbles intersecting the cut surface. A measure of bubble contact in the gypsum core is then calculated from the identified bubbles in the image. Based on the measure of bubble contact, an operating parameter used for forming the porous slurry layer is modified.