Abstract: The multi-directional force modulation cartridge system has a modular relationship the drill bit so that the cutting profile of a cutter in the drill bit can be adjusted without requiring modification of the drill bit itself. The force modulation cartridge system includes a cutter and a cartridge. The cutter can be independently replaced due to wear or replaced when the cartridge is replaced. The cartridge includes a holder, a seat, and a cartridge force member. The cartridge can have different holders and seats adjusted for different formations and drilling conditions. The alignment of the holder and the seat is set by a holder sliding angle and a seat sliding angle with the holder sliding surface and the seat sliding surface being parallel and in sliding engagement. A seat post supports the cartridge force member to exert a restoring force according to the holder sliding angle and the seat sliding angle.

Abstract: A wellbore gun assembly includes a chuck assembly for assembling a wellbore gun. The chuck assembly includes a chuck housing, a rotating gun chuck, and an axial gun chuck. The gun chucks have chuck jaws radially movable about a hole in the gun chucks to selectively grip a portion of the wellbore gun. The holes of the gun chucks are aligned to define a passage for receiving the wellbore gun therethrough. The rotating gun chuck is rotationally positioned about the axial gun chuck to selectively rotate the portion of the wellbore gun as the axial gun chuck moves axially about the axial gun chuck whereby the portions of the wellbore gun are threadedly connected together. The chuck assembly also includes a gantry loader loads gun components onto a feed assembly, and the feed assembly feeds gun components into the chuck assembly.

Abstract: The present invention provides a tool kit for a heat exchanger and a method for detaching an end cover of a heat exchanger. The tool kit comprises: a first hinge device and a second hinge device, wherein the first hinge device and the second hinge device are mounted between an end flange and the end cover at a first position and a second position on the same axis, the first hinge device and the second hinge devices each comprising: a base, configured to be fixedly connected to the end flange; a rotating member, configured to be fixedly connected to the end cover; and a connecting member, configured to be detachably connected to the base and the rotating member, so that the rotating member is capable of rotating along the same axis relative to the base.

Abstract: Disclosed is a method of tensioning/detensioning closure studs of a nuclear reactor vessel. The closure studs are spaced about a circumference of the reactor vessel so as to attach an integrated head package (IHP) of the reactor vessel to a body of the reactor vessel. The method comprises supporting a first stud tensioner device on a trolley, moving the trolley across a movement surface from a stored position to a deployment position adjacent the reactor vessel, engaging the first stud tensioner device with one or more of the closure studs, and operating the first stud tensioner device to tension/detension the one or more closure studs.

Abstract: The invention relates to a processing machine having a suction device, and a method. Such a processing machine can be used to machine workpieces made of wood, wood materials or the like, as is the case in the furniture or components industry, for example.

Abstract: Power tools with conductive couplings used with active injury mitigation technology are disclosed. Systems and methods to detect degradation or failure of a conductive coupling in an AIM-enabled power tool are disclosed. Systems and methods to detect impedance of a conductive coupling in an AIM-enabled power tool are disclosed, along with systems and methods to disable such power tool in the event that the detected impedance falls outside predetermined thresholds.

Abstract: A method of manufacturing a gallium nitride single-crystal substrate includes a step of grinding a main surface by arranging a grindstone and a gallium nitride single crystal having a semipolar plane or a nonpolar plane as the main surface to face each other and pressing the grindstone and the gallium nitride single crystal against each other while moving the grindstone and the gallium nitride single crystal relative to each other. The main surface is ground to make an angle formed by a direction in which the grindstone grinds the main surface and a direction obtained by projecting a c-axis of the gallium nitride single crystal onto the main surface be within at least one range selected from the group consisting of ranges A, C, and E below.

Abstract: There is provided a surfacing station for processing of surfaces of optical elements as workpieces, including a processing unit configured to process surfaces of optical elements; a controller unit configured to communicate with a database containing processing protocols, which can be carried out by the surfacing station, and to control operation of the processing unit in accordance with the processing protocols; and an identification tag base configured to communicate with the controller unit and configured to determine identification tags of consumable items used by the surfacing station, the controller unit being configured to enable a surfacing protocol for processing of the optical elements as workpieces in function of an identified consumable item.

Abstract: The present invention provides a polishing pad, which includes a polishing layer including a first surface that is a polishing surface and a second surface that is the back surface of the first surface and including first through holes formed to penetrate from the first surface to the second surface; windows placed within the first through holes; and a support layer placed on the side of the second surface of the polishing layer, including a third surface that is placed on the side of the polishing layer and a fourth surface that is the back surface of the third surface, and including second through holes formed to penetrate from the third surface to the fourth surface and connected to the first through holes. The windows include a first region where the height of a top surface is lower than the height of the first surface.

Abstract: A tip tool mounting structure for a machining device includes a shaft portion and a holding member. The shaft portion includes a ridge extending in a longitudinal direction and projecting outward in a radial direction. The holding member includes a protrusion projecting outward in the radial direction, switches between an attached and detached state and a fixed state by the rotation, the holding member is configured to be temporarily fixed in the attached and detached state, the attached and detached state is a state in which the protrusion overlaps with the ridge in the longitudinal direction, and the fixed state is a state in which the protrusion does not overlap with the ridge in the longitudinal direction. The temporary fixation of the holding member is automatically released by a movement of a tip tool to an opposite distal end side in the longitudinal direction.

Abstract: A polishing apparatus includes a polishing table with a polishing pad for polishing a film formed on a semiconductor wafer. The polishing apparatus includes a first sensor that outputs a first signal corresponding to the film thickness of the film and a second sensor that is more sensitive than the first sensor and that outputs a second signal corresponding to the film thickness of the film. When the film thickness of the film is equal to or less than a predetermined film thickness, the film thickness detector detects the film thickness of the film according to a second signal. When the film is thicker than the predetermined film thickness, the film thickness detector detects the film thickness of the film according to the first signal and the second signal.

Abstract: A machine tool includes a tool holder configured to hold a grindstone. A workpiece holder is configured to hold a workpiece. At least one actuator is configured to move the tool holder in a movement direction relative to the workpiece holder. A motor is different from the at least one actuator and is configured to move one holder out of the tool holder and the workpiece holder along a control axis. Actuator control circuitry is configured to control the at least one actuator to move the tool holder in the movement direction. Motor control circuitry is configured to control the motor to control the one holder to be stationary in a direction along the control axis. Contact detection circuitry is configured to detect a contact between the grindstone and the workpiece based on a change in a control value of the motor.

Abstract: An abrasive article with an abrasive body a reinforcing member disposed within the body and a bond material that includes a bulk molding compound material. The abrasive article can have an average burst speed of at least (Formula (I)) wherein c is the circumferences of the wheel in mm.

Abstract: A clamp for holding firearms by use of a mounting rail system, such as arca or picatinny, where the rail is held securely in the clamp by a sliding jaw tightened with a knob. The clamp is formed from an arm which itself is held securely within a vise that can be mounted to any suitable surface. The use of a cylindrical arm to form the clamp allows the clamp and firearm to be rotated in the vertical plane. Mounting the vise on a swivel allows for rotation in the horizontal plane. Together, this system provides a user with a stable, infinitely adjustable mounting mechanism that does not affect barrel harmonics.

Abstract: A magnetic nipper is provided. The magnetic nipper has a pair of elongate arms with opposed first and second surfaces. The pair of elongate arms are hingedly connected to allow the pair of elongate arms to rotate about an axle. The first and second surf aces each contain at least one magnet have a polarity such that the magnets repel.

Abstract: In a processing machine for feeding flat material parts thereto, the control unit controls suction cup units in a pick-up step in order to pick up two or more flat material parts corresponding to the number of suction cup units from a transfer table. The control unit then controls the individual two or more suction cup units in a multi-stage positioning step during a movement of the frame component in the feed direction into the processing machine so that these successively deposit the picked-up flat material parts on the feed table in such a way that, viewed in the feed processing direction of the feed table, no overlapping of the deposited flat material parts occurs.

Abstract: A ratchet wrench structure includes a handle portion, a head portion, a ratchet hole, a ratchet portion, an extending rod and a driving portion. The head portion is connected to the handle portion. The ratchet hole penetrates the head portion and includes a plurality of first tooth portions, and the ratchet hole has a driving axis. The ratchet portion is detachably disposed at the ratchet hole, the ratchet portion includes a plurality of second tooth portions, and the second tooth portions correspond to the first tooth portions. A first end of the extending rod is integrally connected to the ratchet portion, and the extending rod extends along the driving axis. The driving portion is integrally connected to a second end of the extending rod and detachably connected to a workpiece.

Abstract: One or more embodiments of the present disclosure relate generally to a ratchet tool including a ratchet head having a drive gear, a pawl, and a spring plunger system that applies an even and consistent distribution of loading to the pawl at a contact interface between the pawl and the drive gear during a ratcheting operation.

Abstract: One or more embodiments of the present disclosure relate generally to an interchangeable grip for a hand tool that facilitates a robust, serviceable connection between the interchangeable grip and a tool handle.

Abstract: A dismantling tool is provided, wherein the dismantling tool includes: a main body including a first base, a second base and at least one connecting member, the at least one connecting member being connected to and between the first base and the second base, the first base including a threaded hole disposed therethrough in a driving direction, the second base including an engaging hole disposed therethrough in the driving direction, in the driving direction the engaging hole and the threaded hole at least partially overlapping with each other, the engaging hole extending through the second base in a direction transverse to the driving direction; and a push rod assembly screwed to the threaded hole and configured to be movable toward the second base in the driving direction to push an object.

Abstract: A driving tool has a tool body with a driving channel. A magazine is attached to the tool body. A pusher biases driven members inside the magazine toward the driving channel. The driver strikes one of the driven members fed in the driving channel. A blank drive preventing mechanism restricts a driving operation of the driver when a number of driven members inside the magazine is less than or equal to a predetermined number. The resistance-applying member applies resistance to the driven members remaining inside the magazine when the blank drive preventing mechanism is actuated and maintains the orientation of the driven members. The resistance-applying member is provided at a location corresponding to the shortest available driven member.

Abstract: A driving tool includes a driver moving along a driving passage and a lift mechanism for moving the driver. The driving tool includes a pusher and an idling strike prevention mechanism interlocking with a position of the pusher. The pusher pushes a driving member from a side opposite to a first end surface of a tool main body such that the driving member contacts a tip end of the driver at a standby position. When the driver moves from the standby position to a top dead center, the pusher supplies the driving member to the driving passage. After that, the driver moves downward to a driving position to drive the driving member. When no driving member is left, the idling strike prevention mechanism restricts activation of the driving tool in interlocking with the pusher such that the pusher moves to an activation restriction on a side of the driving passage.

Abstract: A driving mechanism and a nail gun having the same. The driving mechanism includes a driving force supply unit comprising a frame structure having a front limiting seat and a rear limiting seat; a piston movably arranged between the front limiting seat and the rear limiting seat in the frame structure; a striker co-movably connected to the piston; and a spring assembly disposed between the piston and the rear limiting seat in the frame structure, configured such that when the piston is driven to move backward in the frame structure, the spring assembly is pushed into a contract state to store energy therein, and when the piston is free, the spring assembly expands to release the stored energy therein to push the piston to move forward in the frame structure so that the striker is co-moved therewith to strike a nail out of a muzzle.

Abstract: A lock member is slidably provided in a pusher that pushes driven members in a feed direction. An engaging portion of the lock member engages a locking portion of a contact arm to restrict an ON operation of the contact arm. The lock member is relatively retracted against a lock biasing member when the engaging portion is pressed against the contact arm.

Abstract: A tool with a transmission assembly having a reduction gearset and a speed selector. The speed selector has a member, an actuator and a shifter assembly. The member is movable between a first position, in which the member is non-rotatable, and a second position in which the member is coupled to a planet carrier of the reduction gearset for common rotation. The actuator includes a pivoting yoke and a follower that is coupled to the yoke. The follower engages the member so as to be axially movable with the follower. The shifter assembly has a selector switch, a switch fork, and a pair of springs. The selector switch is slidable between a first switch position and a second switch position. The switch fork is slidably coupled to the selector switch and receives the yoke. The springs cooperate to bias the switch fork relative to the selector switch into a neutral position.

Abstract: A hydraulic tool includes a head at a first end of the hydraulic tool, where the head is configured to apply a mechanical force to a work piece; a body including a first surface; a back portion including: a second surface at a second end of the hydraulic tool that is opposite the first end; a third surface that is between the first surface and the second surface, where the third surface is inclined with respect to the first surface and the second surface; an indicator light; and a window, at least a portion of which is positioned on the third surface, where the window covers the indicator light; and a grip that extends from the body away from the first surface.

Abstract: A hand-held electric working machine for cutting a work object is provided. The electric working machine comprises a working portion, a motor, a control unit, and a guide portion. The working portion is configured to cut the work object. The motor is configured to allow rotary power to be generated for allowing the working portion to drive. The control unit is configured to electrically control rotation of the motor. The guide portion is provided on the control unit, thereby forming a first air flow path surrounded by the guide portion and the control unit. The first air flow path is configured to allow air to circulate therein by rotation of the motor, thereby cooling the control unit.

Abstract: A hand tool may include a head having a bell and a face for delivering an impact, and a handle operably coupled to the head and extending linearly away from the head along an axis. The handle may include a grip portion proximate to a distal end of the handle. The grip portion may include a core material, an anti-vibration layer disposed around a periphery of the core material in a radial direction substantially perpendicular to the axis, and an outer layer disposed around a periphery of the anti-vibration layer. The anti-vibration layer is made of a first elastomeric polymeric material and the outer layer may be made of a second elastomeric polymeric material. The first elastomeric polymeric material may be softer than the second elastomeric polymeric material. A maximum acceleration ratio between the head and the handle is 0.075.

Abstract: A convertible sawhorse and work table assembly includes two sawhorse legs, a worktable and two pivoting support rods. The two support rods are pivotably attached to the work table near one end thereof and to one of the sawhorse legs at the other end thereof. When in the closed condition, the sawhorse legs are folded against each other, with the worktable folded along one of the legs and the two support rods folded against the other sawhorse leg. In a second condition, the sawhorse legs are pivoted away from each other with the worktable and support rods remaining folded against the legs. In a third condition, the table is pivoted upwardly away from the one sawhorse leg until it is disposed substantially horizontally above the sawhorse legs, and is then slid rearwardly relative thereto until the pivot support rods are fully extended away from the other sawhorse legs.

Abstract: A dual-arm robot system includes a controller configured or programmed to determine whether or not interference determination targets interfere with each other based on whether or not three-dimensional models generated with a plurality of portions including at least a hand among the hand, a horizontal link, and a body as the interference determination targets overlap each other.

Abstract: A robot for locomotion in a pipe includes: star carriers including a supporting structure and clamping elements with a fixed part, a moving part, and a motor, the moving part being retracted and extended, the fixed part being connected with the supporting structure, the supporting structure including a frame with an outer contour, the fixed part being attached to the outer contour such that the star carriers can be clamped onto the interior space of the pipe when the moving part is extended; feed elements, the feed elements including a linear drive with a motor for changing a length, the feed elements extending between two fixed parts of adjacent star carriers; and a control unit for controlling the clamping elements and the feed elements.

Abstract: The present invention comprises a plurality of flexible tubes, wherein each of the plurality of flexible tubes includes at least two steering wires linearly arranged therein in the longitudinal direction thereof so as to transfer an operating force applied to one longitudinal end thereof to an end effector connected to the other longitudinal end thereof, and the number of the provided flexible tubes is at least two, and the at least two flexible tubes may be twisted in a spiral shape along the longitudinal direction thereof to form a flexible tube group.

Abstract: The present disclosure provides a robot arm for minimally invasive surgery and a method of controlling the same and is directed to providing a surgical robot arm in which a remote center of motion (RCM) control is implemented through an electronic control so that an overall size of an instrument is reduced and a configuration is simplified, thereby increasing space efficiency and preventing collisions between robot arms.

Abstract: An apparatus includes: a robotic device comprising a plurality of interfaces to allow interaction with a user, the interfaces comprising one or more input interfaces to detect input to the robotic device by the user and one or more output interfaces to perform output actions, and action generating circuitry to generate output actions to be executed by the one or more output interfaces in response to action parameter data; a portable device comprising circuitry to provide a simulated interface to simulate at least a subset of the plurality of interfaces of the robotic device; and behaviour processing circuitry to generate variations of the action parameter data in response to user interaction with the plurality of interfaces of the robotic device and in response to user interaction with the simulated interface of the portable device.

Abstract: In a method for transferring goods using a robot and a storage and picking system for carrying out the method, a gripper is coupled to or activated at a robot head of the robot depending on the grip type of the goods to be transferred. By doing so, a good can be picked up at a first position and deposited at a second position. The goods, separated into the groups of goods, are supplied to the robot so that the goods of a first group of goods are firstly provided at the first position and subsequently the goods of a second group of goods are provided at the first position. The first group of goods includes the goods of a first grip type, and the second group of goods includes the goods of a second grip type.

Abstract: A sensor device according to an embodiment of the present disclosure includes a first pressure distribution sensor disposed in contact with a first support, and a second pressure distribution sensor disposed in contact with a second support. A center position of a pressure distribution to be detected due to gripping of an object-to-be-gripped based on when the object-to-be-gripped in a placed state is gripped by the first support and the second support is set to a first center position. In addition, a center position of a pressure distribution to be detected due to gripping of the object-to-be-gripped based on when the object-to-be-gripped is gripped and lifted by the first support and the second support is set to a second center position. In this case, respective shift amounts of the first pressure distribution sensor and second pressure distribution sensor are different from each other. Each of the shift amounts is a difference between the first center position and the second center position.

Abstract: A gripper which has a friction estimation module configured to estimate static and/or dynamic friction forces acting on gripping jaws is provided. The static friction force is calculated on the basis of constraining reactions whereto the gripping jaws are subjected, the constraining reactions being calculated at least as a function of an actuation force exerted on the gripping jaws, a coefficient of friction of gripper materials and/or lubricant used being known. The dynamic friction force is calculated on the basis of speed of the gripping jaws, width of sliding surfaces and distance between the sliding surfaces of the gripping jaws, the viscosity of the lubricant used being known.

Abstract: An operation control method according to an embodiment includes: acquiring sensor data generated when an operator remotely operates an end effector that is able to grasp or operate an object and in which a plurality of fingers are disposed; determining the role of each of the plurality of fingers on the basis of the sensor data; and generating a command for operating the end effector on the basis of the determined role of each of the plurality of fingers and the sensor data.

Abstract: A controller for controlling a robot is provided. The controller comprises a hierarchical multimodal reinforcement learning (RL) neural network including a first level controller and three second level controllers. The second level controllers comprise a first sub level controller to receive input data based on predefined questions, a second sub level controller to receive the input data by generating a validation question based on state of the RL neural network and a third sub level controller to determine the input data based on state of the RL neural network. The controller is configured to select one of the second level controllers using the first level controller to perform a first interaction relating to a task based on the state of the RL neural network; generate a control command using the selected second level controller based on the corresponding input data; and control operation of the robot by executing control command.

Abstract: A controller for controlling robotic manipulator according to a task is provided. The controller is to collect data relating to a state and an object property of an object, and execute a state adapter model to produce a state correction to state of the object having the object property different from a unitary property of a unitary object. The controller is to execute a control policy using the state correction to produce an action for the unitary object, and execute an action adapter model to produce an action correction to the action produced by the control policy. The state correction and action correction are produced based on difference between object property and unitary property. The control policy is to map a state of the unitary object to the action of the robotic manipulator to manipulate the unitary object according to the task.

Abstract: A work teaching device for a robot that teaches work by a teacher to the robot is configured to include a teaching pose measurement unit that measures a position and posture of an object grasped by the teacher, a positioning detection unit for detecting that the object moved by the teacher is positioned, a grasping motion detection unit for detecting that the object is grasped by the teacher, a functional operation detection unit for detecting that the teacher operates a function of the object, a work state confirming motion detection unit that detects that confirmation of a work state of the object by the teacher is performed, a teaching program generation unit that receives signals from the teaching pose measurement unit, the positioning detection unit, the grasping motion detection unit, the functional operation detection unit, and the work state confirming motion detection unit and generates a teaching program for the robot in which the signals are divided for each movement of the teacher, and a teaching

Abstract: One embodiment of a method for training a machine learning model to control a robot includes causing a model of the robot to move within a simulation based on one or more outputs of the machine learning model, computing an error within the simulation, computing at least one of a reward or an observation based on the error, and updating one or more parameters of the machine learning model based on the at least one of a reward or an observation.

Abstract: One embodiment of a method for controlling a robot includes receiving sensor data indicating a state of the robot, generating an action based on the sensor data and a trained machine learning model, computing a target state of the robot based on the action and a previous target state of the robot, and causing the robot to move based on the target state of the robot.

Abstract: Embodiments of the present disclosure provide a method and a controller of controlling a robot. The method comprising detecting a pattern of a series of external forces applied on a portion of at least one arm link of the robot; comparing the pattern with a predetermined pattern associated with the portion; and in accordance with a determination that the detected pattern matches the predetermined pattern, controlling the robot to perform an action corresponding to the predetermined pattern. By introducing a pattern of a series of external forces applied on a robot to control the robot, the control of the robot can be done more intuitively. In this way, some intermediate steps such as conversion of view angle and instructions required to use the HMI-based methods are omitted, thereby improving efficiency or reliability of the robot.

Abstract: A robot system includes a robot device for supplying a workpiece to a machine tool, a hand attached to a distal end of an arm of the robot device, a force sensor for detecting an external force applied to the hand, and a robot control device for controlling the robot device. The robot control device includes an operation control unit for controlling the robot device to correct the position and posture of the hand with respect to the machine tool, based on an output of the force sensor, and a storage unit to store data relating to the corrected position and posture of the hand.

Abstract: In the present invention, robot commands are displayed together in order to facilitate the understanding of the flow of robot commands. This robot teaching device comprises: a display unit; an edit screen image control unit for displaying, on the display unit, an edit screen image for editing a robot program that teaches how to move a robot; and a wizard control unit that, when a robot command is added to the robot program in the edit screen image, displays at least a wizard for setting a parameter value of the robot command on the display unit. The robot command added in the edit screen image may be a representative command associated with the addition of at least one other robot command besides the aforementioned robot command, and the representative command may be deleted from the robot program after the wizard has ended.

Abstract: A robotic system is disclosed. The system includes a robotically-controlled equipment comprising a laser or other projector. An indication is received of an issue to be resolved by an intervening worker with respect to a target object. The robotically-controlled equipment is positioned to direct a projection emitted by the projector onto the target object.

Abstract: A method and system for motion control may be provided. A target trajectory of an object to be moved may be obtained. The object may be caused to move along the target trajectory of the object based on one or more motion parameters of the object during the movement of the object. At least a portion of the one or more motion parameters of the object may be determined using a motion parameter determination model. The one or more motion parameters of the object may include at least one of a pose parameter, an acceleration parameter, or a speed parameter.

Abstract: A collaborative robot system has a catching determination device. The catching determination device sets basic shapes, which encompasses a main body shape or a shape of an end effector, and calculates gaps or contacts between the basic shapes on the basis of the basic shapes, a posture of the robot, and a position of the end effector, thereby determining whether there is a possibility of a finger of an operator to be caught between arms of the robot or between the arm and the end effector.

Abstract: Provided are a robotic arm control method and apparatus, and a robotic arm. The control method includes a dragging preparation phase and a dragging phase. The dragging preparation phase includes determining a target arm body and a position characteristic value of the target arm body, determining a relationship expression between the position characteristic value and the positions of multiple joints, and determining a target joint as the control object in the dragging phase. The dragging phase includes determining the target value of the position characteristic value and the positions of multiple joints except the target joint at the current moment; substituting the obtained parameters into a first calculation expression to solve for the next position of the target joint when a robotic arm is dragged from a current position.