Abstract: Two types of objects are sorted in multiple sorting passes, for instance flat mail items are precisely sorted into a delivery sequence. Objects of a first object type are fed to a sorting system from a first feeding device. Objects of a second object type are fed from a second feeding device. The sorting system sorts the objects in at least two successive sorting passes. A first sorting plan and a second sorting plan are used in each sorting pass except in the last sorting pass, where a sorting plan is used. Each first sorting plan assigns a sorting end location of a first sorting end-location region and each second sorting plan assigns a sorting end location of a second sorting end-location region. A sorting end location is selected for each object using a sorting plan in each sorting pass, and the object is transferred into the selected sorting end location.

Abstract: Method and systems for sorting are described. In one embodiment, a container is released into a pocket section, with the pocket section being at a first alignment stage. The pocket section is rotated with the container away from the first alignment stage to a second alignment stage. Attributes of the container are acquired at the second alignment stage. An order to which the container belongs is identified with the acquired attributes. The pocket section with the container is rotated to a third alignment stage. The location of the third alignment stage is selected based on the identified order. The container is received to group with one or more containers in the identified order. Additional methods and systems are disclosed.

Abstract: A system for managing semiconductor production includes a conveyor to convey a wafer carrier to or from an overhead hoist transfer system. The system also includes a cross-system transport apparatus to transfer the wafer carrier between the conveyor and an overhead shuttle system.

Abstract: A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.

Abstract: In an infrastructure that uses a mobile order fulfillment system, robotic drive units may be dispatched and instructed to bring inventory holders to a workstation where at least one of the inventory holders is packed and prepared for shipment. The robotic drive units are then instructed to move the prepared inventory holder to a transport vehicle such as a truck. Fiducial marks may be removably placed within the transport vehicle to aid navigation of the robotic drive units. At a destination facility, additional robotic drive units may be instructed to move the inventory holders from the truck and place the inventory holders at appropriate storage locations.

Abstract: The present example of transferring and organizing articles from a shelf into a container, (or “controlled transfer and packing”) also allows a warehouse distribution system to be provided that receives items from a manufacturer or distributor, and boxes or packages the items to produce a shipment to another reseller, or customer, according to a received order in a way that may be efficient than current methods. In particular, the system makes use of a specialized floor plan and equipment that aids in processing the order according to the pricing methods described. The processing also provides an example of transferring and organizing articles from a shelf into a container that controls article tumble when loading the article into a container that tends to increase packing efficiency. Loading of items to be packed into magazines to aid transferring of articles from a shelf into a container is also described.

Abstract: A feed station feeds a flow of items along a transport path, in which a path, a path point W2 is orthogonal to the position of a first transport roller, a path point W3 is orthogonal to the position of a sensor, and a path point W4 is orthogonal to a second transport roller. A distance between W3 and W4 is smaller than the minimum length of the flat items and is greater than or equal to a distance between W4 and a path end point Wend. A distance between Wend and an intake point W4-Wend of the subsequent goods processing apparatus is much smaller than the W4-Wend distance. A transport velocity distance between the separated flat items at the start of the transport path is controlled to a minimum distance and is always the same size when the items leave the feed station.

Abstract: An automated palletizer includes an automated package pick device capable of moving packages from a package deposit section to a pallet to form a pallet load from packages. A controller is operably connected to the automated pick device, the controller having a pallet load generator configured to determine a pallet load structure of mixed packages. The pallet load generator is programmed so that it determines the load structure from mixed package layers overlaid over each other at least one of the mixed package layers being formed of stacks of mixed packages. Top and bottom surfaces of the stacks corresponding to the at least one mixed package layer respectively form top and bottom surfaces of the at least one mixed package layer that are substantially flat. The controller generates commands for the pick device to build the pallet load from the load structure determined by the pallet load generator.

Abstract: A system for automated inventory management and material handling removes the requirement to operate fully automatically or all-manual using conventional vertical storage and retrieval (S&R) machines. Inventory requests to place palletized material into storage at a specified lot location or retrieve palletized material from a specified lot are resolved into missions for autonomous fork trucks, equivalent mobile platforms, or manual fork truck drivers (and their equipment) that are autonomously or manually executed to effect the request. Automated trucks plan their own movements to execute the mission over the warehouse aisles or roadways sharing this space with manually driven trucks. Automated units drive to planned speed limits, manage their loads (stability control), stop, go, and merge at intersections according human driving rules, use on-board sensors to identify static and dynamic obstacles, and human traffic, and either avoid them or stop until potential collision risk is removed.

Abstract: A reconfigurable automated system is provided. The system comprises a backbone including a plurality of docking ports, at least one module including a connector for releasably coupling the module to the backbone, and a motion unit, connected to the backbone, for providing an object to the module when the module is coupled to the backbone. The module connector and one of the docking ports form a connection interface, including a mechanical alignment device and an electrical connection, when the module is operationally coupled to the backbone.

Abstract: Objects are sorted according to predetermined groups of sorting feature values. In particular, postal items are sorted according to groups of delivery addresses. A sorting system sorts the objects into a sequence so that all objects with sorting feature values belonging to the same predetermined value group are situated one directly behind another in this sequence. The sorting system has x1 storage subregions, x2 sorting subregions and a sorting plan. The objects are apportioned to the x1 storage subregions. For each storage subregion, an apportionment step is then carried out, in which the objects from this storage subregion are apportioned to the x2 sorting subregions. The apportionment steps are performed one after the other. Each apportionment step, is followed by a sorting and output step for each sorting subregion, in which the objects from this sorting subregion are brought into a sequence in accordance with the sorting feature values and this sequence is output.

Abstract: A banknote handling apparatus includes: a first winding storage unit; a second storage unit; a transport unit; a recognition unit; and a control unit. The first storage unit stores the banknotes, while providing a mark associated with inventory amount information of the first storage unit. To perform a reconciliation process for the first storage unit, the control unit allows some of the banknotes stored in the first storage unit to be fed from the first storage unit, based on the mark, for recognition by the recognition unit, and determines an inventory amount of the first storage unit based on a result of the recognition and the inventory amount information associated with the mark.

Abstract: Sonic embodiments provide an agricultural commodity distribution system that provides secure distribution of an agricultural commodity to an authorized person. In some embodiments, the system comprises a server computing device, a data storage associated with the computing device, and a controller that activates the distribution to the authorized person. In some embodiments, the server is communicably connected to a mobile communication device of a person such that the person can send the distribution request to the server via the mobile communication device. The server of some embodiments is associated with the data storage such that the server can validate the distribution request against data stored in the data storage. The server of some embodiments is also communicably connected to the controller such that the server transmits an activation code to the controller when the distribution request is validated.

Abstract: A control device (50) and a conveying method for conveying carriers (40 to 49) in a machine (1) are provided. The control device (50) comprises a determining unit (51) for determining the velocity of a carrier (40 to 49) in a first conveying device (10) in which carriers (40 to 49) are conveyed with magnetic force and with variable velocity for each carrier (40 to 49) from a first position to a second position different from the first position, and an evaluating unit (52) for evaluating the velocity of carriers (40 to 49) in a second conveying device (20) in which carriers (40 to 49) are conveyed from a second position to a third position different from the second position, wherein the determining unit (51) is arranged to determine the velocity of each carrier (40 to 49) in the first conveying device (10) on the basis of the evaluation result of the evaluating unit (52) so that the carriers (40 to 49) move continuously between the first and second conveying devices (10, 20).

Abstract: An apparatus and a method for positioning electronic components to be transferred in relation to a discharging device. The discharging device includes a slide for at least one electronic component and a housing surrounding the slide. The electronic components are provided by a first carrier, which comprises a first side facing the discharging device and a second side facing away from the discharging device. An image data acquisition device captures image data of a region in which the slide is set up. A control determines positional data of the electronic component to be transferred and for generating control commands from the positional data. An actuator moves the first carrier and the discharging device in relation to each other in response to the control commands to change an offset between a longitudinal axis of the slide and a center axis of the electronic component.

Abstract: A transfer device includes: a transfer unit configured to transfer a substrate from a transfer original position to a corrected transfer destination position; a plurality of position detecting units installed between the transfer original position and the corrected transfer destination position and configured to detect a position of the substrate which is being transferred by the transfer unit; and a control unit configured to calculate the corrected transfer destination position by correcting an initial transfer destination position set at the start of the transfer of the substrate, based on the position of the substrate detected by the position detecting units, before the substrate is transferred to the initial transfer destination position, and configured to control the transfer unit to transfer the substrate to the corrected transfer destination position along a transfer path produced by modifying an initial transfer path.

Abstract: A robot system according to an aspect of an embodiment includes a robot, a determination unit (work determination unit), a selection unit (chucking direction selection unit), and an instruction unit. The robot has a robot hand (hand) including three or more chuck jaws. The determination unit obtains information on a member formed including a substantially ring shape, and determines a state of the member. The selection unit selects whether to hold the member with the chuck jaws from an inner peripheral side or outer peripheral side based on the determination result of the determination unit. The instruction unit instructs the robot to perform operations of transporting the member while holding the member with the chuck jaws based on the selection result of the selection unit, and assembling a predetermined processed product using the member.

Abstract: An industrial vehicle includes an engine, a hydraulic pump, a cargo handling tool, a mast, a first hydraulic actuator, a second hydraulic actuator, an instruction member, a supply oil passage, and a controller. When the mast is being tilted forward, the controller performs revving control that raises the engine speed when detecting that an operation of the instruction member instructs a load operation that applies load to the engine.

Abstract: A system for transporting inventory items includes an inventory holder and a mobile drive unit. The inventory holder has a frame with device openings. The mobile drive unit is operable to dock with an inventory holder and undock with an inventory holder. When undocked from an inventory holder, the mobile drive unit is further operable to traverse a path from a first location to a second location. The path passes through at least a first device opening of the inventory holder such that the mobile drive unit passes beneath the inventory holder while moving along the path.

Abstract: A sorting system having a plurality of sorting assemblies where each sorting assembly has an image device that transmits an image of product to a controller that then actuates a robotic sorting device to remove damaged product through a suction tube based upon the transmitted image.

Abstract: Method for arranging rod-like elements including cigarette parts such as filter and tobacco parts, in which elements are delivered to a conveyor having successive sectors which arrange the elements in separate rows along the conveyor. The type, number and location of element transported on the conveyor are determined by at least a single scanning of each successive element on the conveyor. The scanned results are transmitted to a control unit which assigns each sector of the conveyor information according to its contents. The elements are subsequently sorted based on the information received by the control unit according to the type and the number of parts each element is composed of, the orientation of these parts in relation to the direction of movement of the conveyor. Each of the successive elements is transferred to a predetermined receiving area based on the information received from the control unit.

Abstract: Implementations of the present invention relate to systems and methods for processing paperboard and similar fanfold materials into packaging templates and packaging orders using the packaging templates. More specifically, the described embodiments relate to methods of processing orders available for packaging, such as to reduce the time and cost of producing custom-size packaging templates, building custom-sized packaging boxes, and packaging orders in the boxes.

Abstract: The invention relates to a scalable freight loading system, in particular for an aircraft, comprising driving and securing means or freight packages, which are controlled by it central control device (DCB), wherein the loading surface is split into sectors, a local control (SCB 1-x) being assigned to each sector, and the conveying and securing elements (PDC) of a sector are connected to the central control device (DCB) via a bus system (CAN bus). According to the invention, the bus system itself or an electronic component connected to the bus system, particularly the central control device (DGB) or the local control anon (SCB 1-x) assigned to each sector, are provided with an interface via which the control software stored in a storage unit of the central control device (DCB), in a local control unit (CCB, SCB 1-x) or further electronic components connected to the bus system, such as further functionally supplemental controllers, can be made accessible and modified.

Abstract: A system for picking and placing glass articles from a first location to a second location, the second location including a thermal reforming apparatus for transforming the glass articles from 2D glass articles to 3D glass articles includes a robot having an end effector, the end effector including a compliance assembly having at least six degrees of freedom. The compliance assembly is in fluid communication with both an open pneumatic system and a closed pneumatic system, the open pneumatic system providing a partial vacuum to a portion of the compliance assembly for grabbing the glass article, and the closed pneumatic system for activating a centering function for a portion of the compliance assembly.

Abstract: A method of controlling a mobile drive unit includes detecting, by a mobile drive unit at a first location, an active marker at the first location. The mobile drive unit is a self-powered robotic device configured to move independently in a workspace in response to instructions received from the active marker. A management module transmits an instruction to the active marker. The active marker emits a signal detectable by the mobile drive unit, the signal comprising the instruction. The mobile drive unit receives the instruction from the active marker for the mobile drive unit to perform a task.

Abstract: A method and apparatus for determining the position and type of food located in a food compartment wherein the food compartment may contain or hold solids or liquids. For example, the method includes a sensor to determine the type of the solid or liquids located in the food compartment or container. The sensor may also be used to determine the position or location of the food. The method contemplates having at least one and may include multiple containers or food compartments wherein a container holds liquids and a food compartment holds solids or semi-solids. By determining the type and location of the food in the food compartment an individual may select a certain type of food from a specific food compartment. In addition, transmitting the location or position of the food to the feed arm results in a more efficient delivery system.

Abstract: A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane.

Abstract: Method and system for arranging rod-like elements, in which an unordered portion of rod-like elements, composed each of at least one part selected from cigarette parts being filter parts and tobacco parts, is delivered to a conveyor which arranges the elements on the conveyor in a plurality of compartments, longitudinally in each compartment and transversely to the direction of movement of the conveyor. The compartments have a length which receives at least one filter part and at least one tobacco part of a cigarette. The type, number and location of parts of the element received in each compartment is defined by at least a single scanning of each successive compartment of the conveyor. The result of the scanning is transmitted to a control unit and the elements are subsequently sorted based on information received from the control unit.

Abstract: A transport unit (1) is provided for workpieces (2), in particular sheet metal parts, between neighboring placement areas or machining devices (3, 4), in particular presses. The transport unit (1) includes a multi-axis robot (5) having a gripper tool (9). A controllable transfer unit (6) is also provided that is guided by the robot (5). The unit includes an advancement unit (7) and a pivot unit (8) for the gripper tool (9).

Abstract: A method includes receiving a request for the use of a first storage medium located in a first library unit in a storage medium library. It is determined that the first storage medium is to be moved by a transportation component. In response to determining that the first storage medium is to be moved by the transportation component, it is determined that the transportation component is located at a second library unit. In response to determining that the transportation component is located at the second library unit, it is determined that a second storage medium, which is in the second library unit, can be transported to the first library unit. In response to a determination that the second storage medium can be transported to the first library unit, the second storage medium is transported to the first library unit.

Abstract: A servo transfer feeder is configured to transfer a workpiece that is held by a holding member between an upstream press and a downstream press, and includes a storage section that stores a basic cam curve, a maximum velocity, and a maximum acceleration, a moving time calculation section that respectively calculates different moving times as to the moving distance of the holding member by limiting the basic cam curve respectively to the maximum velocity and the maximum acceleration, and a cam curve generation section that generates a motion cam curve by reflecting the moving distance and a longer one of the different moving times to the basic cam curve. The holding member moves between the upstream press and the downstream press, based on the motion cam curve.

Abstract: A transport device is configured to transport different kinds of articles which have different lengths from the held portion or a position corresponding to the held portion to one end portion along the fore and aft direction. There are provided an article detection device for detecting an article, end detection device for detecting the one end portion, along the fore and aft direction, of the article detected by the article detecting device, and a determination device for determining the kind of the article based on detected information from the article detecting device and detected information from the end detection device.

Abstract: Provided is a substrate processing system including a group controller which determines a combination of processing apparatuses having the shortest total processing time including the processing end time in a final processing apparatus, determines a predictable elapsed time up to a processing start time by a predetermined downstream processing apparatus for a wafer lot from a processing end time of the wafer lot by a predetermined processing apparatus in the combination of the processing apparatuses, and determines a timing of discharging the substrate to the predetermined processing apparatus or an upstream processing apparatus of the predetermined processing apparatus so that the predictable elapsed time is set within a predetermined time when the predictable elapsed time exceeds the predetermined time.

Abstract: An apparatus includes a network interface, a processor and a computer readable storage medium. The processor is coupled with the computer readable storage medium. The computer readable storage medium has computer readable program code embodied therewith. The computer readable program code, when executed by the processor, causes the processor to determine the state of a storage medium library and determine distribution for a plurality of distributable components within the storage medium library based, at least in part, on the state of the storage medium library. The computer readable program code also causes the processor to, responsive to a determination of the distribution for the plurality of distributable components within the storage medium library, issue commands distributing the plurality of distributable components within the storage medium library in accordance with the distribution.

Abstract: An apparatus comprises a network interface, a processor and a computer readable storage medium coupled with the processor. The computer readable storage medium includes computer usable program code. The computer usable program code, when executed by the processor, causes the processor to receive a request for a first storage medium located in a first library unit in a storage medium library. The processor is caused to determine that the first storage medium is to be moved by a transportation component. The processor is caused to, responsive to said determination, determine that the transportation component is located in a second library unit. The processor is caused to, responsive to said determination, determine that a second storage medium located in the second library unit can be transported to the first library unit. Responsive to said determination, the processor is caused to transport the second storage medium to the first library unit.

Abstract: A sheet handling apparatus includes pickup unit which picks up a plurality of sheets loaded in a loading unit, a first determining unit which determines a type or a state of the sheet picked up by the pickup unit, a data collecting unit which collects handling amount data for respective types of the sheets or respective states of the sheets, a second determining unit which determines a distribution destination of the sheet based on the handling amount data for the respective types or the respective states of the sheets which are determined by the first determining unit, a distributing unit which distributes the sheet based on a determination result of the distribution destination of the sheet by the second determining unit, and a stacking unit composed of a plurality of cassettes to stack the distributed sheets.

Abstract: According to various aspects, exemplary embodiments are disclosed of automatic container orientation systems. Also disclosed are methods for automatically orienting containers. In an exemplary embodiment, a system for automatically orienting containers generally includes one or more cameras, a controller, and an orientation unit. The one or more cameras are configured to obtain data relating to an orientation of at least one container to be included in a package. The controller is in communication with the one or more cameras for receiving the data and is configured to use the data to determine an amount of rotation needed for the at least one container to orient the at least one container in a desired final orientation. The orientation unit is configured to rotate the at least one container by the determined amount of rotation to thereby orient the at least one container in the desired final orientation.

Abstract: There is provided a loading and unloading apparatus for performing loading and unloading of workpieces with respect to access positions on a pallet, including a plurality of hands which sequentially access the access positions on the pallet, the plurality of hands including a first and a second hand. Further, the loading and unloading apparatus includes a managing unit which maintains an access position of the first hand, and a determining unit which determines a movement path of the second hand based on the access position of the first hand.

Abstract: An automated warehouse is attachable and detachable to a processing equipment without requiring an operation to change wiring of a first controller when attaching and detaching the automated warehouse. The automated warehouse is attachable and detachable in front of the apparatus including a first loading port and a first controller, the automated warehouse including a second loading port to transfer an article between a transfer vehicle and a second controller. A communication terminal disposed within a range allowing communication with the transfer vehicle for an article, and a communication apparatus connected with the communication terminal are provided. The communication apparatus includes a switch that switches a connection destination of the first controller between the second controller and the communication terminal.

Abstract: A wide area radio frequency identification (RFID) system includes: a first RFID cell and a second RFID cell. The first RFID cell and the second RFID cell each include a reader and tags. The readers access the tags using ultra-wide band signaling. The RFID cells each include: a communications interface operable to communicate with a network operations center, and a communications gateway which supports direct communications between RFID cells. The method includes accessing the second RFID cell from the first RFID cell, and the accessing is performed using the communications gateway that can cover a range of at least five hundred meters.

Abstract: Method and systems for sorting are described. In one embodiment, a container is released into a pocket section, with the pocket section being at a first alignment stage. The pocket section is rotated with the container away from the first alignment stage to a second alignment stage. Attributes of the container are acquired at the second alignment stage. An order to which the container belongs is identified with the acquired attributes. The pocket section with the container is rotated to a third alignment stage. The location of the third alignment stage is selected based on the identified order. The container is received to group with one or more containers in the identified order. Additional methods and systems are disclosed.

Abstract: Methods and apparatus for material handling in an order fulfillment center. An order fulfillment system may include inventory storage, a processing area, and a control system. The inventory storage may in some instances include two storage areas, and in some cases the processing area may be disposed between the two storage areas. The processing area may include a router module that is configured to receive inventory items that have been picked from the inventory storage. Inventory items may be received by the router module via conveyance receptacles (e.g., totes, bins) that are conveyed using a conveyor mechanism. The processing area may also include a plurality of processing modules that may be configured to receive inventory items from the router module. In some instances, the processing modules may receive the inventory items via conveyance receptacles that are conveyed using the conveyor mechanism.

Abstract: A robot-enabled method of picking cases in a warehouse is provided. A robotic vehicle includes a processor configured to access a memory, a user input device, an output device, and a load platform, and has access to an electronically stored representation of a warehouse. The representation includes a map that defines aisles for storing items arranged as pick faces within the warehouse. A pick list is generated from an order; the pick list provides identifications of items to be picked to fulfill the order. Determined from the pick list is a plurality of stops at pick faces associated with the items. A route within the map is generated that includes the plurality of stops. The robotic vehicle iteratively guides itself along the route and automatically stops at each of the plurality of stops to enable loading of the items from the pick list onto the load platform.

Abstract: An automatic-adjustable stacker for controlling the movement of a media, such as cardboard, through a media handling system. The stacker includes a media receiver positioned proximate a feed of the media that receives a leading edge of the media and a controller that causes the media receiver to move from a first position for receiving the media, to a second position for depositing of the media at a desired location. The media receiver is configured to prevent the media from coming into contact with other media already located at the desired location until the media has arrived at the desired location, while creating a concave-like shape to the media while conveying it.

Abstract: Methods, devices, non-transitory storage media, and systems that utilize operations including configuring each feed conveyor in the plurality of feed conveyors to operate in a slug-building merge mode, monitoring to identify a first predefined condition, configuring each feed conveyor in the plurality of feed conveyors to operate in a zippering merge mode in response to identifying the first predefined condition, monitoring to identify a second predefined condition, and configuring a first set of the feed conveyors in the plurality of feed conveyors to operate in the slug-building merge mode and a second set of the feed conveyors in the plurality of feed conveyors to simultaneously operate in the zippering merge mode in response to identifying the second predefined condition.

Abstract: A picking system includes a conveyer, a robot, and a control device. The conveyer conveys workpieces. The robot includes a plurality of holding parts and a supporting part. The holding parts hold the workpieces. The supporting part is rotatably provided against an arm to support the plurality of holding parts. Then, the control device instructs the robot to rotate the supporting part by a predetermined amount in such a manner that the direction of the workpiece becomes a predetermined direction for each the workpiece held by the holding parts and then to place the workpiece on a predetermined place.

Abstract: During a carrying operation, the position, transportation origin, and transportation destination of a carrier or a boat can be easily checked. A carrying system is configured to carry a substrate, a manipulation unit is configured to display an operation state of the carrying system on a manipulation screen, and a control unit is configured to control an operation of the carrying system. The manipulation unit displays a carrying system icon indicating the carrying system which is a carrying target object and a carrying-out icon at predetermined positions of the manipulation screen corresponding to a transportation origin of the carrying system, and a carrying-in icon at a predetermined position of the manipulation screen corresponding to the transportation destination of the carrying system.

Abstract: A method of transporting a substrate with a substrate support, the method includes defining a frictional breakaway force between the substrate and the substrate support in a horizontal plane, moving the substrate in the horizontal plane along a horizontal trajectory, moving the substrate in a vertical direction along a vertical trajectory simultaneously while moving the substrate in the horizontal plane, and wherein the horizontal trajectory is determined based on the acceleration profile of the vertical trajectory and wherein the horizontal trajectory prevents the moving of the substrate from overcoming the coefficient of friction in the horizontal plane.

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract: A control apparatus in a substrate treating system with a substrate treating apparatus having a physical load port for receiving pods for storing substrates, and a carrier transport system for transporting the pods to and from the physical load port. The control apparatus includes a virtual load port control device for allotting a virtual load port to the physical load port, and instructing the carrier transport system to perform a transporting operation to and from the virtual load port on an assumption that the virtual load port really exists.