Abstract: Systems and methods for controlling a swarm of mobile robots are disclosed. In one aspect, the robots cover a domain of interest. Each robot receives a density function indicative of at least one area of importance in the domain of interest, and calculates a velocity vector based on the density function and a displace vector relative to an adjacent robot. Each robot moves to the area of importance according to its velocity vector. In some aspects, the robots together perform a sequence of formations. Each robot mimics a trajectory as part of its performance by switching among a plurality of motion modes. Each robot determines its next motion mode based on a displacement vector relative to an adjacent robot.

Abstract: In order to retrieve a specific block from a machining program, a numerical controller calculates the distance between a command path based on one of blocks included in the machining program and a current position of a tool and, based on the calculated distance, displays only that one of the blocks included in the machining program which is located closest to the current tool position or displays a plurality of blocks side by side in the ascending order of distance from the current tool position.

Abstract: A method for managing an electronic circuit (2) including a thermal protection device (12) interrupting the operation of the electronic circuit when a measured temperature exceeds a predetermined threshold, includes counting the electronic circuit operation interruptions and interrupting the operation of the electronic circuit when the number of counted interruptions reaches a predetermined value and when no reset has taken place. The corresponding circuit includes: a counter (16); linking elements between the counter and the thermal protection device such that the counter can indicate the number of operation interruptions caused by the thermal protection device; and elements for resetting the counter.

Abstract: In order to facilitate reuse of an NC program for operation that has been executed in the past, this control device for a machine tool that drives the machine tool by executing an NC program is provided with: a first program storage unit that identifies an NC program for machining using a program name or program number and stores said program; a second program storage unit that stores an NC program for operation each time an operator executes an NC program for operation that is input manually; and a display unit that lists a plurality of NC programs for operation stored in the second program storage unit and displays said programs.

Abstract: An automatic cleaning machines comprises a high-speed reciprocating cleaning means making a cleaning cloth reciprocatingly wipe a floor at high speed and a vacuum device sucking the dust in front of the cleaning cloth.

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator. The manipulator has an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and is configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract: When a stepping amount of an accelerator pedal is 0%, torque Ta is generated with the rotating speed being zero. When retreat is occurred in the slope start, the rotating speed is reduced. When the rotating speed is reduced, the torque is increased. Thus, the retreating force finally matches the propulsion force. As a result, the retreat becomes uniform motion. The decision of torque in such a manner does not require a value of a vehicle weight.

Abstract: Techniques for a surgical system are provided that allow an electromechanical surgical arm to be coupled at a location adjacent to a patient, such as a surgical table. A first mating element can be formed on a support member and it can be in electrical communication with a power source and a controller, and a second mating element can be formed on the electromechanical arm. The first and second mating elements can each have a respective electrical contact, and they can be configured such that mechanical coupling between the first and second mating element causes electrical communication to be established between the first and second electrical contacts and thus between the electromechanical arm and the power source and the controller. The mating elements can include tolerance elements that allow for some discrepancies between the mating elements while still providing a desired mechanical and electrical connection between the mating elements.

Abstract: A main drive control method for glass factories, comprising the following steps: (a) providing a first circuit breaker and a second circuit breaker on a power supply loop of an electrical motor, wherein one end thereof is respectively connected to two main drive electrical motors; (b) enabling the first circuit breaker to be connected to a municipal power supply and the second circuit breaker to be connected to a UPS power supply; and (c) enabling the first circuit breaker and the second circuit breaker to be interlocked via a mechanical interlocking mechanism, so that only one of the circuit breakers can be switched on during a normal operation. The main drive control method for glass factories solves the problem that the rotation speed of a main drive electrical motor is incorrect due to the interference on a signal.

Abstract: A production line management system that registers and manages distribution data for each of a plurality of production lines, and thus, manages work data in a unitary manner. The management system being constructed to manage production in a plurality of the production lines with a small amount of data and to simplify a system configuration. In particular, the distribution data is created by an identifier added to work data.

Abstract: An apparatus for preventing a cover from being drawn into a joint of a paint robot includes a circular ring member mounted to the paint robot proximate the joint. The circular ring member may include first and second blocking members. The paint robot includes first and second portions rotatable relative to one another about an axis of the joint. The circular ring member circumferentially surrounds the first portion of the paint robot such that the axis of the joint passes through the circular ring member.

Abstract: A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term T?1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.

Abstract: A system and a method for displaying a three-dimensional robotic workcell data includes generating the robotic workcell data, a display device including a web browser for receiving the robotic workcell data in a standard format and displaying a three-dimensional rendering of the robotic workcell data, and manipulating the three-dimensional rendering on the display device.

Abstract: Disclosed embodiments include a system and a method of compiling a PLC (Programmable Logic Controller) command. In some embodiments, the method includes: determining one compile processing scheme chosen from a plurality of compile processing schemes for a command included in a program to be executed in a PLC; and executing a command compile or compiler optimized for a rate or a size based on the chosen compile processing scheme.

Abstract: A robot system includes a fixed camera that obtains first measurement data by detecting a plurality of features positioned within a detection range, the detection range including at least part of a range in which a robot arm is movable, a hand camera movable with the robot arm, and a control apparatus that controls the robot arm. A calibration function that relates a value obtained as part of the first measurement data to a command value provided to the robot arm at each of a plurality of positions and orientations at which the hand camera obtains second measurement data by detecting each mark.

Abstract: A numerical controller includes a machining program creation unit for receiving an input of a machining program including a cycle command, a tool path creation unit for creating a plurality of tool paths based on the machining program, a display unit for displaying the machining program and the plurality of tool paths, and a correspondence relation management unit for recording a relation between an argument of the cycle command and the plurality of tool paths in an information table, wherein the correspondence relation management unit receives a selection of a selected tool path corresponding to one of the plurality of tool paths, and specifies an argument of the cycle command corresponding to the selected tool path with reference to the information table, and the display unit displays the specified argument in a different form from a form of another argument in the machining program.

Abstract: A position determining device is equipped with a matching unit. The matching unit matches a random pattern in a photographed image of a portion of a ceiling or floor photographed by a portable terminal against a random pattern in a photographed image of a larger area of the ceiling or floor than the aforementioned portion so as to determine the position of the photographed image of the aforementioned portion on the photographed image of the larger area. The matching unit determines the position of the ceiling located above the portable terminal or the position of the floor located therebelow on the basis of the identified position on the photographed image of the larger area.

Abstract: A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.

Abstract: A counterbalancing linkage mechanism includes a base link including a first joint; a second link forming a second joint to be rotatably connected to the base link; and a counter balancer having one portion disposed at the second joint and another portion movably disposed at the base link along a length direction of the second link. The counter balancer compensates a gravitational torque generated due to a weight of the second link when the second link rotates on the second joint. A third link is connected to the second link. The counter balancer comprises a counter balancer delivery portion connected to the second link and rotating by the rotation of the second link. A counter balancer driving portion is in contact with the counter balancer delivery portion, linearly moves by the rotation of the counter balancer delivery portion, and compensates the gravitational torque and a load capacity due to interaction with the counter balancer delivery portion.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: A machining program editing assist apparatus includes a display controller. While the display objects are being displayed in either one of the program data display area and the process list display area, the display controller decides that a designated display object of the one of the display areas is the display object designated by the display objects of the one of the display areas and a specific point, differentiates the designated display object from the other display objects in the one of the display areas, decides that a designated display object of the other of the display areas is the display candidate of the other of the display areas, includes the designated display object in the display objects of the other of the display areas, and differentiates the designated display object from the other display objects in the other of the display areas.

Abstract: A system for enabling a user to remotely control a robotic medical device system includes a motion capture apparatus to capture motion of a user in a sensing volume and generate indicative output data. The system includes a control unit configured to execute gesture recognition logic that recognizes a user gesture based on analysis of the indicative output data. The control unit executes interpreter logic that is configured to translate the recognized user gesture into a corresponding robotic medical device control command configured to control an aspect of the operation of the robotic medical device system.

Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments.

Abstract: A movable machine including a chassis, a tool coupled to the chassis, an operator control carried by the chassis and a controller. The controller is communicatively coupled to the operator control. The controller being configured to send a force feedback and/or a vibration feedback to the operator control thereby conveying information to the operator. The information is not related to a load encountered by the tool.

Abstract: In one embodiment, the present invention may be implemented as a software platform, data model and method to build robotic managers (RM). A robotic manager is, in one embodiment, a computer system that automates tasks performed by a human manager. A MAP RM has a skillset which may be divided into two categories: 1) basic skills such as visual recognition, voice command processing, data visualization, unstructured search, and 2) expert skills such as finance, risk management, cyber security, and information technology. Expert skills may be categorized by domain.

Abstract: A robot is controlled by a control unit. The robot includes: a first sensor; a second sensor; a third sensor; a fourth sensor; a first circuit capable of transmitting and receiving signals to and from the first sensor and the second sensor; and a second circuit capable of transmitting and receiving signals to and from the third sensor and the fourth sensor. The control unit and the first circuit are connected through a first serial wire, and the first circuit and the second circuit are connected through a second serial wire.

Abstract: A method and an apparatus are provided for controlling a smart home device. In the method, the apparatus acquires a target state of the smart home device, where the target state is a state determined according to visitor information within a predetermined range. The smart home device performs an operation corresponding to the target state. The smart home device flexibly performs different operations according to the actual visit situation so that working efficiency is improved. Especially when there are a large number of visitors within the predetermined range, the smart home device may automatically enter an unconventional working state, such that inconvenience caused by movement and noise to the visitors may be prevented, thereby improving overall performance of the smart home device.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: Examples for augmenting user recognition via speech are provided. One example method comprises, on a computing device, monitoring a use environment via one or more sensors including an acoustic sensor, detecting utterance of a key phrase via data from the acoustic sensor, and based upon the selected data from the acoustic sensor and also on other environmental sensor data collected at different times than the selected data from the acoustic sensor, determining a probability that the key phrase was spoken by an identified user. The method further includes, if the probability meets or exceeds a threshold probability, then performing an action on the computing device.

Abstract: A collaborative robot employs low ratio drives for three or more axes of movement, such as three primary axes. An arm assembly may be mounted to a support for movement along a vertical linear axis, and the arm assembly may include first and second arm links that are each rotatable about vertical axes, e.g., such that the arm links move in a horizontal plane. Low ratio drives may be used for movement along the vertical linear axis and the rotary axes for the first and second arm links. Feedforward and feedback control may be employed to control the movement of the arm assembly and arm links, and feedback torque components may be limited to 25% or less of the maximum drive torque.

Abstract: System and method of virtual feedback with haptic devices for use with computer-assisted medical devices includes one or more processors and an input device coupled to a control unit configured to determine a reference point for the input device, select a virtual feedback model (VFM) for the input device from among a plurality of VFMs configure parameters of the VFM, determine a position of the input device based on information from one or more sensors associated with the input device, determine a feedback level for the input device based on the reference point, the position, and the VFM, and send one or more feedback commands to one or more actuators associated with the input device based on the feedback level. In some embodiments, the VFM includes a transfer function that has one or more characteristics selected from unidirectional, bidirectional, linear, non-linear, asymmetric, symmetric, isotropic, non-isotropic, and hysteresis.

Abstract: A corpus curation method, system, and non-transitory computer readable medium, include mapping a kinematic motion of a robot to a granular feature of an item in the corpus and answering a user question using the mapped kinematic motion embedded in an answer by the robot.

Abstract: In an approach to non-functional requirement testing of a robot, a computer determines one or more kinematic actions included in a received command. The computer determines at least one component of the robot included in an operation of the one or more kinematic actions. The computer determines at least one agent associated with the at least one component of the robot included in the one or more kinematic actions. The computer sends the one or more kinematic actions to the robot. In response to the robot performing the one or more kinematic actions, the computer receives, from the at least one agent, at least one characteristic of the performed one or more kinematic actions associated with the at least one component of the robot included in the one or more kinematic actions. The computer, based on the received at least one characteristic, generates one or more test results.

Abstract: The invention relates to an aircraft seat comprising an adjusting device, the aircraft seat comprising at least one adjustable seat element. The seat element has an adjustable state and a locked state, the seat element being adjustable by means of manual force application and/or force application by a spring element and/or force application due to the weight of parts of the aircraft seat only in the adjustable state. The adjusting device comprises at least one control element and at least one locking element, the locking element being movable by means of the control element between a locking position in which the seat element is locked, and a neutral position in which the seat element is adjustable. The control element is an electronic and/or electric switch, and the locking element can be moved between the locking position and the neutral position by means of an electrically operated actuator which can be actuated by means of signals from the switch.

Abstract: A robotic system comprises a joint position controller and a manipulator having coupled together housings. The manipulator is adapted to hold and manipulate a device. Motors for actuating corresponding degrees of freedom of the device and sensor processing units for sensing and converting states of the motors into digitally transmittable information are housed in one or more of the housings. A remote current controller is housed in a different housing than the one or more housings for space and/or heat considerations. The remote current controller generates drive signals provided over individual signal lines to the motors by using motor commands provided by the joint position controller and by using the digitally transmittable information received from the sensor processing units.

Abstract: An autonomous vehicle comprises an environment sensing means for sensing an environment of the autonomous vehicle, and a computing unit configured to perform a mapping function and a localization function. The mapping function is based upon signals supplied from the environment sensing means to build a map. The localization function localizes the autonomous vehicle within the map and generates localization information. The autonomous vehicle further comprises boundary distance sensing means configured to generate a distance signal correlated to a distance between the autonomous vehicle and boundary indication means. The computing unit is configured to receive the distance signal and to perform the mapping function or the localization function based upon a signal from the environment sensing means and the distance signal from the boundary distance sensing means. The system also comprises a boundary wire indicating a border of an area in which autonomous driving of the vehicle can be performed.

Abstract: A dental restoration producing system of producing a dental restoration from a dental mill blank with one or more through-holes according to one embodiment, when the dental restoration includes no through-hole of the dental restoration, the superposed data generating section generates a superposed data in which at least one through-hole of the dental mill blank is not superposed with the dental restoration, when the dental restoration includes a through-hole of the dental restoration, the superposed data generating section generates a superposed data in which at least one through-hole of the dental mill blank is not superposed with the dental restoration and the through-hole of the dental restoration, or a superposed data in which at least one through-hole of the dental mill blank is included in the through-hole of the dental restoration which is larger than the at least one through-hole of the dental mill blank.

Abstract: An automated warehousing system for use in a warehouse having a storage racks includes drawers partitioned into multiple compartments to contain different parcels, the drawers being at designated locations of individual cells in the storage racks and adapted to be opened and closed. The system also has a plurality of drones configured to identify a designated one of the drawers at a designated location and a designated one compartment of the designated one drawer. The drones have gripper heads translatable relative to opened drawers to retrieve parcels therefrom. The system further has a communication subsystem communicating with the drones to control their flying and also to control their gripper heads relative to opened drawers and communicating with individual cells for opening and closing drawers as drones approach and depart the selected individual cells.

Abstract: An acquirer of an autonomous mobile device acquires a value of level difference between a datum level and the device. A determiner determines whether the value of level difference acquired by the acquirer is equal to or higher than a given value. A movement restrictor restricts parallel shift of the device when the determiner determines that the value is equal to or higher than the given value.

Abstract: A moving speed estimation device which includes a vibration component information estimation unit 4 which estimates the vibration cycle or vibration frequency of the periodic vibration component included in instantaneous moving speed of a mobile body A along with a periodic moving action of the mobile body A. The moving speed estimation device also includes a speed estimated value adjustment processing unit 5 which sequentially generates speed values as estimated values of the moving speed of the mobile body A, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency for the time series of the instantaneous moving speed estimated from the time series of the measured value of the position of the mobile body A.

Abstract: A method is presented, which comprises: obtaining or holding available at least one speed profile for at least one selected link of a travel network, wherein said at least one speed profile represents a plurality of speeds for a plurality of subsequent segments of said selected link; smoothing said at least one speed profile for said at least one selected link in a first smoothing step by: determining whether said at least one speed profile represents one or more speeds that are associated with an acceleration above a predetermined acceleration threshold or a deceleration below a predetermined deceleration threshold; for each speed that is determined to be associated with an acceleration above said acceleration threshold or a deceleration below said deceleration threshold, determining a respective adapted speed for replacing said respective speed at least partially based on speeds for one or more adjacent segments of said respective segment.

Abstract: A control apparatus for controlling a machine tool on the basis of a machining program is provided with a program analysis unit which analyzes an input machining program, a process table creation unit which, on the basis of the results of the analysis by the program analysis unit, creates a process table that sequentially lists processes according to the execution flow of the machining program, and a display unit which displays the process table created by the process table creation unit.

Abstract: Apparatus for producing finished dental restorations at the dentist's chair side from 3D CAD data. These restorations may be manufactured from ceramics, metals and polymers via subtractive means i.e. milling and grinding. A polar compact mechanism has been employed with the implementation of an inverse kinematic transform in the machine control to allow Cartesian programming. The margin following tool path is very computationally intensive and requires many minutes of calculation time and numerical control programs in excess of 10 mb for a typical restoration. Conventionally this would require the user to wait several minutes before running the machine which would increase the wait time for both the patient and the doctor. This problem is solved by allowing the program to be generated in parallel with the machine in the process of actually cutting the restoration.

Abstract: A numerical control device that controls servomotors configured to process a workpiece into an arbitrary finishing shape by performing a plurality of processing operations so that the tool moves along a processing locus, the numeral control device includes: an initial locus deriving unit configured to derive the processing locus based on the arbitrary finishing shape; a processed range acquiring unit configured to acquire a processed range in which the tool has performed the processing operation; a receiving unit configured to receive a processing instruction for a changed finishing shape different from the arbitrary finishing shape; and a changed locus deriving unit configured to derive a changed processing locus based on a shape of a changed processed part obtained by excluding the processed range from the changed finishing shape at the time of interruption of the processing.

Abstract: A machine tool incorporating two angular axes as an inverted SCARA arm and a vertical, linear Z-axis, is described. A build surface on which a 3D object may be additively built is rotated around a lambda axis and also revolved around a theta axis. Embodiments are described that: (i) are free of belts, pulleys, cables and other soft drive mechanisms; (ii) place all three axis motors below a base plate; (iii) direct drive the build surface from shafts of a lambda and theta motor; (iv) are free of a rectangular box frame; (v) use angle sensors mounted directly on motor drive shafts; (vi) measure and compensate for build surface skew; (vii) incorporate a single element for both Z-axis support and a bearing surface. Both device and method embodiments are claimed.

Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.

Abstract: A machining program creation apparatus for a wire electrical discharge machine for creating a machining program for cutting a predetermined machining shape in an object to be machined includes a first unit defining the machining shape; a second unit defining a shape of the object to be machined; a third unit designating a reference position to be used when the machining shape is machined; a fourth unit for generating a first machining path for cutting the machining shape based on the machining shape, the shape of the object to be machined, and the machining reference position; a fifth unit for generating the shape of the object to be machined as a second machining path based on the shape of the object to be machined and the machining reference position; and a sixth unit for drawing the first and the second machining paths on the same screen.

Abstract: A monitoring system monitors entry of an object into a surrounding area of a robot. The monitoring system includes visible light irradiation section, a sensor section and a monitoring control unit. The visible light irradiation section irradiates visible light from a level higher than that of the robot toward at least an outer edge portion of at least one of an operating area, which is set up to enclose a movable range of the robot, and a predetermined area which is set up around the operating area. The sensor section monitors entry of a new object, which is not registered in advance, into the operating area. The monitoring control unit issues a request for stopping the robot to a robot control unit that controls the robot, when entry of a new object into the operating area is detected by the sensor section.

Abstract: An indoor localization and navigation system for a mobile robot, the system comprising: a projector mounted on the mobile robot and configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal; a receiver mounted on the mobile robot and configured to receive the sensor node identifier and the position code from the transmitter; and an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, wherein the onboard computer is configured to receive the sensor node identifier and the position code from the receiver and to determine a l