Abstract: Disclosed is a method for preventing a collision between a plurality of task-performing robots, the method performed by one or more processors of a computing device.

Abstract: A robot system includes: a feature point position detection unit configured to detect, at a constant cycle, a position of a feature point of an obstacle that moves or deforms within a motion range of a robot; a movement path calculation unit configured to calculate a movement path of the robot before a motion of the robot; a mapping function derivation unit configured to derive a mapping function based on a position of the feature point that is detected at a time interval; and a path adjustment unit configured to dynamically adjust the movement path of the robot using the derived mapping function.

Abstract: A gripper, an apparatus, and a method for assembling kits of sanitary products in an automated fashion are disclosed. The sanitary products are pre-loaded into containers including a plurality of independent housings for the sanitary products, each of the housings being configured to allow loading of a sanitary product therein and withdrawal of the sanitary product therefrom independently of the other housings, and the kit is assembled in batches on the gripper, and released by the latter into a package.

Abstract: Systems and methods are described for providing a canister configuration system for medication dispensing machines. A medication dispensing machine has capacity to hold a fixed number of canisters and trays, each of which may contain a particular medication. If an order is received for a medication that is not in one of the currently loaded canisters, a canister of that medication may be swapped in, or the medication may be dispensed from a tray. A canister configuration system may analyze received orders, dispensed medications, and other inputs and constraints, and may determine a canister configuration for one or more dispensing machines that reduces canister swaps and tray fills. The canister configuration(s) may specify groups of medications that should be dispensed in particular ways, such as via canisters that remain in the dispensing machine at all times, via canisters that are swapped in or out as needed, or via trays.

Abstract: A computer-implemented method for providing payment account information in a user account by receiving payment card information by a card reader at a point of sale. An account can be created when the payment card information is read by the card reader. Optionally, a gift card can be scanned prior to the creation of the account, and the gift card information can be combined with the payment card information. The gift card can be an electronic gift card which can be personalized with textual, visual, video, and/or audio portions.

Abstract: Systems, methods, and other embodiments associated with self-tuning optimization of a replenishment policy of an item are described. In one embodiment, the method includes determining an initial replenishment policy of the item. A performance of the initial replenishment policy is determined based upon past performance of the initial replenishment policy. The initial replenishment policy is revised to get a service level of the item for future sales periods closer to a target service level of the item. Information is forwarded in real-time about the revised replenishment policy to an order fulfillment facility.

Abstract: A pharmaceutical dispensing machine comprising a plurality of modules, said plurality of modules comprise one or more sensors configured to monitor at least one pharmaceutical during a pharmaceutical dispensing process and alert when said at least one pharmaceutical is not detected by at least one of said one or more sensors.

Abstract: Server computers of card issuer-processors can determine a mapping of dependencies of a plurality of components of a card processing protocol and create groups of components that can be executed in parallel. The groups of the components are sequentially processed within a limited time period.

Abstract: Techniques are described for electronic content delivery. One method includes receiving information associated with the prescription order of a user account. In some cases, the information associated with the prescription order includes a medication identifier. The method may include performing a search using the medication identifier to obtain electronic medication documentation. The method may also include transmitting a sponsored content request that includes the medication identifier and receiving sponsored content information responsive to the sponsored content request. The method may further include determining that the user account has authorized communication via a user device and transmitting the electronic medication documentation and/or sponsored content information to the user device. In some examples, the method may include transmitting an indication that the electronic medication documentation and/or sponsored content information was transmitted to the user device.

Abstract: A laser printhead assembly for a laser printhead is disclosed herein. The laser printhead assembly may include a laser containment door; and a laser containment housing that is configured to form a sealed enclosure with a label support of a rewriteable label. The sealed enclosure may be configured to include the rewriteable label and the laser printhead. The laser containment door, in a laser-enabled position, may be configured to permit the laser printhead, via a light beam, to modify the rewriteable label and the laser containment door, in a laser-disabled position, may be configured to prevent a light beam from escaping the laser containment housing.

Abstract: Pill pack packaging that monitors and reports on pill compliance is disclosed. The pill pack packaging includes a circuit disposed on the cover of pill receptacles. A processor monitors the changes in electrical signals from the circuit. When the electrical signals change, the processor records the time and date. The processor may also report the time and date of pill receptacle opening to a mobile device via wireless transmission. The device may also be capable of providing alerts regarding lack of compliance or loss of the pill pack.

Abstract: Centralized support user management in a distributed healthcare information management system. Support user management may include generation of permission data that may be distributed from a central server to one or more local systems. The local systems may execute a healthcare information management application such as, for example, a pharmacy workflow management application. In any regard, central support users at the central server may periodically require access to the local systems to perform, among other activities, technical support or troubleshooting in relation to the application executed at the local system. In turn, provision of permission data from the central server to the local system may allow support users to access the local system with specific permission identification's provided specific ones of the support users. In turn, specific user permissions may be established and support user tracking may be carried out at the local systems.

Abstract: A medication disposal and reconciliation kiosk device and processor based system for collecting, identifying and measuring the amount of medication deposited in a collection container wherein the kiosk generates a coupon or other incentive that can be used to purchase new prescriptions, refills or other items, collects pills and liquid medications, including controlled medications such as opioids, chemically treats the collected medication with a non-toxic biodegradable solution or mixture for dissolving the medication, reports medicines collected to predetermined offices or agencies and collects the medication bottles and containers for recycling. The kiosk device includes a barcode reader, keyboard, pill counter, pill identifier, liquid medication collection bin, scale for weighing medication, biodegradable safe liquid for dissolving medication collected, receipt printout, and wireless electronic transmission circuitry or devices.

Abstract: A method, a computer program product and a dispensing device for dispensing discrete medicaments, wherein the dispensing device comprises a dispensing section, a collection section and a packaging section, wherein the dispensing section defines an array of feeder positions for holding a plurality of feeder units, wherein the collection section comprises a first collection unit that is movable in a collection direction, wherein the method comprises the steps of: positioning a first feeder unit at a first feeder position; and prior to removing the first feeder unit from the first feeder position, positioning a second feeder unit at a second feeder position, downstream from the first feeder position in the collection direction, wherein the first feeder unit and the second feeder unit hold medicaments of the same first composition.

Abstract: Apparatus such as a vending machine can store custom-decorated physical products to be dispensed or made available to users and consumers based on a color sampling of another object or person. The invention also includes the method of creating the packaging of the products based on the color sampling of the object or person.

Abstract: A system is provided for storage and reconstitution of IV solutions. The system may include one or more storage and reconstitution devices each configured to store and manipulate IV solution containers containing IV solutions in crystalline form that include hydration chemicals and therapeutic drugs. Crystalline hydration chemicals may include crystalline salts and sugars. The containers may be dimensionally precise enough for mechanical manipulation and configured such that sharp objects such as needles are not needed for fluid delivery to or from the container. Each storage and reconstitution device may store stacked containers and may include components for retrieval of a container from the storage and for reconstitution of the contents therein using a sterile water source within the device. IV doses may be manufactured, under appropriate standards, that can be mechanically reconstituted to produce high-quality doses in real time on the patient care unit or in the pharmacy.

Abstract: Systems and methods may be provided that may enable an individual to retrieve one or more prescription products (e.g., product refills) from a self-service retrieval location such as a counter, drive-thru, drop box, or kiosk. A unique-machine readable code may be associated with a particular medical prescription of a patient, the medical prescription corresponding to one or more prescription products. The unique machine-readable code may be transmitted to a computing device of the individual, who may scan the code at the retrieval location. Identification of the unique machine-readable code may result in dispensing of the one or more prescription products associated with the medical prescription.

Abstract: Methods, systems, computer storage media, and graphical user interfaces for population health management are disclosed. The population health management system may allow for cross-continuum tracking and subsequent interactions with transactional systems, providers, and/or patients. The population health management system may include utilizing clinically relevant algorithms to populate registries to enable healthcare providers to better facilitate care for a population of patients. The population health management system may consolidate and provide comprehensive condition-specific and/or patient situation specific information that is accessible and updatable across venues. The population health management system may create cross venue antibiograms based on medications information and susceptibility results which can be filtered for selected demographics.

Abstract: An aspect of some embodiments of the invention relates to a pharmaceutical dispensing machine configured to perform a pharmaceutical dispensing process, comprising: at least one module configured in a first configuration to perform at least one first part of said pharmaceutical dispensing process; dispensing hardware configured in a second configuration to perform at least one second part of said pharmaceutical dispensing process; and circuitry, which controls and coordinates the operation of said at least one module and said dispensing hardware using at least one parameter related to said dispensing pharmaceutical process; wherein said at least one first part of said pharmaceutical dispensing process and said at least one second part of said pharmaceutical dispensing process overlap in functionality by at least one subassembly component in said dispensing hardware which overlaps in functionality with said dispensing module in said pharmaceutical dispensing process and are performed at a same dispensing event

Abstract: This invention provides a controlled dosage form-dispensing device, comprising a multi-chamber, bulk medicine storage and distribution unit, wherein said unit is provided with a plurality of individual dosage form-containing storage chambers with respective delivery ports; and a personal medication dispenser comprising a fixed dosage form extracting station comprising a dosage form receiving and extracting mechanism; wherein the medication dispenser is provided with a controller which moves the bulk medicine storage and distribution unit sequentially bringing a respective delivery port of a predetermined chamber into register with the fixed dosage form extracting station such that the dosage form receiving and extracting mechanism extracts and receives only one dosage form at a time.

Abstract: A medicine sorting apparatus includes a receiving part, an identifying part and a storing part. The storing part includes a plurality of storing trays arranged in multiple stages. A storing area for each of returned medicines is defined at the time of storing each of the returned medicines according to a size of each of the returned medicines identified by the identifying part. Each of the returned medicines is stored in the storing tray in a state that the storing area for each of the returned medicines is associated with identification information of each of the returned medicines so that each of the returned medicines can be taken from the storing tray by a scalar type robot.

Abstract: An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).

Abstract: Embodiments of the present invention provide a medicine photographing apparatus for reducing time and effort of a user operation at the time of measuring shapes of medicines, and a medicine shape measuring apparatus and a medicine dispensing apparatus which include the medicine photographing apparatus. A medicine photographing apparatus 7 includes a medicine holding part 81, a lighting part 82, a photographing part 83, a housing 71 and a pivotally supporting part. The medicine holding part 81, the lighting part 82 and the photographing part 83 are contained in the housing having light shielding property. The medicine holding part 81 is provided between the lighting part 82 and the photographing part 83. Further, the medicine holding part 81 can hold a medicine with a portion having translucency and pivotally move due to the pivotally supporting part.

Abstract: An interference check system capable of appropriately checking interference between a machine tool and a robot in real time even in the case where real-time properties of data communication are not secured in a system including a machine tool and a robot. The interference check system includes a machine tool controller configured to control a machine tool, a robot controller configured to control a robot, and an interference check execution unit configured to include shape model data or the like of a machine tool mechanical unit and a robot mechanical unit. The interference check execution unit checks presence/absence of interference between the machine tool mechanical unit and the robot mechanical unit based on the shape model data of the machine tool and the robot and time-series data generated by integrating the positions of the control axes of the machine tool and the robot, respectively.

Abstract: Provided is a system for identifying a drug container that includes an image capture device configured to capture an optical image of a portion of a label provided to the drug container, and a non-transitory computer storage medium storing a plurality of features for each of a plurality of different drugs included in a database. The features associated with each of the plurality of different drugs are suggestive of an identity of a drug identity but do not, alone, positively identify the drug identity. A processing component is configured to receive data representing the optical image transmitted by the image capture device and to identify a candidate for the drug identity based on the plurality of features associated with the candidate.

Abstract: A system, passenger train, method and software product for assisting a passenger to monitor luggage and eventually issue an alarm. The system includes a luggage compartment with an RFID reader in connection with a train server aboard of the train. The train server is provided with information about an RFID tag attached to a piece of luggage of a specific passenger, and the train server is provided with information about the mobile device of this specific passenger. Upon detection of a piece of luggage with a registered RFID tag the train server notifies the mobile device of the passenger associated with the RFID tag and requests the passenger to confirm deposit of the luggage. The RFID reader seizes to protect the RFID tag of the deposited piece of luggage, the train server notifies the mobile device of the passenger associated with the RFID tag.

Abstract: A pharmacy medication verification system is particularly useful for verifying medications to be dispensed to hospital patients while minimizing or eliminating verification by a pharmacist. Typically, a technician or robot picks the medications from storage bins in accordance with a medical prescription or stocking order and uses various sensors to ensure that the correct medication was picked and enters a medication container. The system typically provides correct and incorrect medication indicators as well as correct and incorrect entry indicators. Error reports may be generated when appropriate to communicate any relevant errors to the pharmacist, who can then verify that the correct medications are in the container. In one aspect, the containers are in the form of patient drawers which fit within a cart for delivery to hospital rooms. A containment device may be used to secure the drawer or other container during the verification process.

Abstract: A medical device includes a treatment module configured to apply a treatment to a patient. The medical device includes an interface configured to operatively connect to a removable storage device storing authorization data that identifies a level of treatment authorization. The medical device includes a processing device configured to perform operations in response to receiving user input indicating a treatment should be initiated. The operations include determining whether the removable storage device is valid for use with the medical device. If the removable storage device is determined to be valid, the authorization data is accessed. The processing device determines whether the treatment is authorized based on the accessed authorization data. If the treatment is determined to be authorized, the treatment module is controlled to apply the treatment. If the treatment is determined to not be authorized, the treatment module is controlled such that the treatment is not applied.

Abstract: A system for monitoring coffee machines, comprising: a coffee machine (10) having an electronic circuitry (14, 40, 41) configured for collecting and storing usage parameters of the machine; and a display (12) connected to the electronic circuitry and configured for displaying information processed by the electronic circuitry (14, 40, 41) in the form bar codes of QR code type. The system includes a device (50) external to the machine (10) and configured for acquiring through photographs the processed information, in order to decode it and transmit it to a remote server (15). A method of for monitoring coffee machines is also described.

Abstract: A method includes: capturing or receiving at least one image of one or more identity documents (IDs) using a mobile device; determining identifying information from one or more of the IDs; building an ID profile based on the identifying information; storing the ID profile to a memory of the mobile device; invoking a workflow configured to facilitate a business transaction; detecting a predetermined stimulus in the workflow, the stimulus relating to the business transaction; providing at least a portion of the ID profile to the workflow in response to detecting the predetermined stimulus; and driving at least a portion of the workflow using the provided portion of the ID profile. Related systems and computer program products are also disclosed.

Abstract: An automatic prescription drug dispenser including a remote dispenser, a prescription entry system, and a communications network. The remote dispenser transmits and receives information from the communications network and dispenses prescription drugs to the patient. The prescription entry system transmits and receives information from the communications network and provides an input system for the prescriber to electronically enter individual prescriptions for each patient. The communications network coordinates communications between the doctor, insurance carrier, and the remote dispenser. The remote dispenser stores, retrieves, and labels prescription drug and over-the-counter products directly to patients through a remote automated dispenser, a prescription entry system, and a communications network.

Abstract: Provided is a label affixing device to affix linerless labels having different lengths cut and dispensed at the correct position on an article. A label affixing device includes a label issuing unit for cutting and dispensing a linerless label sheet into an individual label, and a label affixer for affixing to an article the linerless label dispensed; the label issuing unit includes a label feeder that feeds the linerless label sheet, a label cutter that cuts the linerless label sheet, and a label cutter controller that controls the operation of the label cutter; and the label affixer includes an affixing unit that moves the linerless label towards an article, and an affixing unit controller that controls the movement of the affixing unit.

Abstract: An automated pill dispensing system includes an output chute configured to hold pill-containing vials and an optical sensor located at a predetermined location in the output chute. The optical sensor includes an optical emitter and an optical detector configured to be operated cooperatively to output a detection signal indicating a presence or absence of a vial at the predetermined location of the output chute. A controller is coupled to the optical sensor and is configured to receive the detection signal therefrom, detect the presence or absence of the vial at the predetermined location of the output chute in response to the detection signal, and control a next depositing event whereby a next vial is deposited in the output chute responsive to the detection. Related methods of operation are also discussed.

Abstract: A system and method for delivering a product such as a pharmacy bottle from a conveyor system to a delivery container via a delivery chute. A control system in communication with the components of the system detects when a product is ready for release into the chute for delivery based on information obtained by a scanner on the conveyor system.

Abstract: A method for automating interaction with a messaging system receives a first message from the messaging system, associates the first message with a topic, assigns the first message to an identity associated with the topic, maps content to the first message, creates a second message based on the content, and sends, via the identity, the second message to the messaging system. The first message may be screened for quality and assigned a quality score, and if the quality score does not exceed a predetermined threshold, then the second message will not be sent to the messaging system.

Abstract: A kiosk for sale or rental of secure USB flash drives employing digital rights management to implement secure digital media storage such as that provided by encrypted storage utilizing content protection for recordable media (CPRM) or the like. Preferably, the form factor of the secure USB flash drives is that of a standard USB flash drive, and a standard USB connector is employed therein making the devices and their use familiar and comfortable to the average consumer. Further, the kiosk may employ an array of USB ports and support writing of content from one drive to another to advantageously adjust inventory to respond to demand. Light, simple kiosks may be designed.

Abstract: Disclosed in the present invention is a medicine dispensing device comprising: a medicine storage portion for storing a medicine; a medicine discharge portion for discharging the medicine stored at the medicine storage portion; a communication module for communicating with a hospital server; and a control portion for controlling the operation of the medicine storage portion and the medicine discharge portion so as to allow the medicine to be discharged on the basis of prescription information of a prescription received from the hospital server through the communication module.

Abstract: A computationally implemented system and method that is designed to, but is not limited to: electronically receiving status information regarding a particular ingestible material portion as related to a first engagement of an automated dispensing system with at least one manufacture, the first engagement occurring during a first condition including the at least one manufacture being united with the particular ingestible material portion, the first engagement to facilitate access by the automated dispensing system to the particular ingestible material portion for dispensing of the particular ingestible material portion, the electronically receiving status information to receive status information influenced by whether any disengagements of the automated dispensing system from the at least one manufacture occur during the first condition prior to the first engagement, the at least one manufacture arranged to inhibit access to the particular ingestible material portion prior to any engagements of the automated d

Abstract: Systems and methods for delivering and packing medicines are described. The systems and methods allows for understanding relations between the medicines and a production-history information piece even if the medicines are having different production-history information pieces while being of the same type. A medicine dispensing apparatus includes a medicine delivery means, a medicine preparation means, a packing means, and a control means capable of controlling operations from delivery of the medicine to packing of the medicine according to prescription data and further specifying a production-history information piece of the medicine delivered from the medicine delivery means. The medicine dispensing apparatus further includes a printing means for printing the production-history information pieces on a packaging sheet.

Abstract: Example embodiments of the present invention may provide an efficient method of identifying unit doses of medication, and more specifically, to dispensing, identifying, packaging, and labeling unit doses of medication for distribution. In particular, methods may include receiving medication information, causing identifying information related to the medication information to be printed to a web of material, where the identifying information is printed at regular intervals, and preparing a medication unit dose to be dispensed to a container. Methods may further include verifying that the medication unit dose corresponds to the identifying information printed to the web of material, and joining the web of material to the container in response to the dispensed unit dose corresponding to the identifying information.

Abstract: Systems and methods are disclosed for a medical pill dispensing system. A method involves accessing a plan. The plan indicates a first pill distribution for a first period of time, and a second pill distribution for a second period of time. The method also involves receiving an input, where the input indicates a change to the plan. The input indicates at least one pill to be distributed in the first period of time. The method also involves determining whether to modify one or more of the first pill distribution or the second pill distribution. The method involves, in response to a determination that the second pill distribution is to be modified, modifying the plan to indicate a change in the second pill distribution.

Abstract: A service providing system according to an embodiment includes a robot unit, an interface that receives input of order input information, and a control unit that is connected to the robot unit and the interface, and causes the robot unit to execute an operation based on the order input information input with the interface. Furthermore, the service providing system receives input of the order input information with the interface, causes the robot unit to execute the processing operation based on the order input information input with the interface, and provides a product on which the processing operation has been performed by the robot unit.

Abstract: An automatic prescription drug dispenser including a remote dispenser, a prescription entry system, and a communications network. The remote dispenser transmits and receives information from the communications network and dispenses prescription drugs to the patient. The prescription entry system transmits and receives information from the communications network and provides an input system for the prescriber to electronically enter individual prescriptions for each patient. The communications network coordinates communications between the doctor, insurance carrier, and the remote dispenser. The remote dispenser stores, retrieves, and labels prescription drug and over-the-counter products directly to patients through a remote automated dispenser, a prescription entry system, and a communications network.

Abstract: A vending machine, in communication with a remote station, delivers a labeled container to a user from storage holding containers of different sizes and shapes and containing different products such as medicaments. A control system is operable to select a specific unlabeled container from among the other containers in storage, and to move the selected unlabeled container to a labeling module where a label is applied after the position of the label and/or the selected unlabeled container are/is adjusted so as to result in the label being applied at a desired position and angular orientation with respect to the selected unlabeled container. The control system is further operable to move the labeled container to a delivery zone accessible to the user.

Abstract: A system for managing drug labeling information includes a repository comprising a network accessible database, the repository having an upload portion and a download portion, the repository being accessible to a plurality of users via client computers coupled to a wide area network. The repository includes drug labeling information on a plurality of drugs stored therein. The upload portion of the repository is accessible by a first set of users while the download portion of the repository is accessible by a second set of users. In one preferred aspect of the invention, drug manufactures are able to upload new or revised PDF files containing drug labeling information. The new or revised PDF files are then available for download by pharmacists or other authorized users.

Abstract: A service providing system according to an embodiment includes a robot unit, an interface that receives input of order input information, and a control unit that is connected to the robot unit and the interface, and causes the robot unit to execute an operation based on the order input information input with the interface. Furthermore, the service providing system receives input of the order input information with the interface, causes the robot unit to execute the processing operation based on the order input information input with the interface, and provides a product on which the processing operation has been performed by the robot unit.

Abstract: A substance control dispensing system which receives containers of ingestible material for use in dispensing ingestible products individually or in combination with other ingestibles available to the system. A container is sealed at a point of origin and maintains information regarding the origin, integrity of the container since packing, or substance contained by the containers among other types of information. The system is configured to acquire the information from the container upon the container being inserted into the system, and the information may be used to prepare a display of available selections which includes a status related to the information from the container or its insertion into the system, increasing confidence toward the integrity in labeling of ingestible products to be dispensed. Other sorts of ingestible products can include but are not limited to food bars, meal replacements, snacks, full meals, plant and/or animal based products, nutraceuticals, pharmaceuticals, smoothies, etc.

Abstract: Apparatus and methods for an automated teller machine (“ATM”) currency stamper are provided. The currency stamper may be configured to mark currency retracted by the ATM. The mark may include one or more attributes of the currency. The mark may include transaction information associated with a dispensing and/or retraction of the currency. Marked currency may be stored in the ATM. Marked currency may be scanned. A scanning of marked currency may read the attributes of the currency and the transaction information included in the mark. The scanning of the marked currency may erase the mark. A value of the marked currency may be calculated. The value may be determined based on the currency attributes and transaction information included in the mark applied to the currency.

Abstract: A method, system and apparatus is provided for dispensing drugs quickly, conveniently, securely, and accurately and at relatively less cost than traditional pharmacy-based dispensing systems. A script for a drug prescribed to a user is generated comprising a human readable description of the drug and the user or a machine readable description of the drug and the user. The script is provided to a robotic prescription dispensary operable to recognize either the human readable description or the machine readable description, and validate and dispense the drug accordingly. The robotic prescription dispensary includes a user interface, a tele conferencing or video conferencing means enabling communication between the user and a human validation agent, and a scanning means for capturing an image of the script. A method for managing inventory and distribution of drugs is also provided.

Abstract: A method of making a printed article of clothing of fabric, characterized by the following steps: (a) a computer (4) of a customer (2) is connected for data exchange with a computer (12) of a producer; (b) the customer (2) sets the design of a desired article of clothing via the customer computer (4)/producer computer (12) connection by setting for a plurality of design parameters (e.g. basic design, color, size) a respective selection target from several selection targets possible; (c) based on data from said design setting, several print parts are printed on a printing medium by means of a printer (12), said printing medium being either directly a fabric panel or an intermediate medium the print of which is transferred to fabric later on; (d) fabric pieces (24a; 24b) (e.g.