Abstract: A method for problem diagnosis in a robot system having one or more robots includes the steps of: a) receiving (S1) a first problem message from a robot of the robot system, the first problem message including one or more data elements descriptive of a problem experienced by the robot; b) receiving (S1) a subsequent problem message from a robot of the robot system; c) if a time elapsed between receipt of the subsequent problem message and receipt of an immediately preceding problem message is shorter than a predetermined threshold (S2), adding the subsequent problem message to a message set which comprises the immediately preceding problem message (S3); and d) if the time elapsed is longer than the predetermined threshold (S2), terminating (S4) the message set of the immediately preceding problem message without adding the subsequent problem message, and establishing (S5, S6) a new message set.

Abstract: Method includes generating a base model by training a pretrained model using a base training dataset including first training datapoints identifying tables in historical document images that include the tables and text, where the generated base model is configured to extract the tables as objects; and generating a table extraction model by training the base model using an enhanced training dataset including second training datapoints that are different from the first training datapoints and identify a plurality of cells disposed in each of the tables in a row direction and a column direction. The table extraction model is trained to output content of the tables and table information in an XML format, the table information including cell level information of the plurality of cells that is searchable via a query configured to provide target content that corresponds to one or more cells.

Abstract: The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

Abstract: A robot includes an operation control unit that selects a motion of the robot, a drive mechanism that executes a motion selected by the operation control unit, and a remaining battery charge monitoring unit that monitors a remaining charge of a rechargeable battery. Behavioral characteristics of the robot change in accordance with the remaining battery charge. For example, a motion with a small processing load is selected at a probability that is higher the smaller the remaining battery charge. Referring to consumption plan data that define a power consumption pace of the rechargeable battery, the behavioral characteristics of the robot may be caused to change in accordance with a difference between the remaining battery charge scheduled in the consumption plan data and the actual remaining battery charge.

Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

Abstract: A robot task system includes: a robot; a transfer device configured to be driven to transfer a plurality of workpieces thereon by a specific distance at a time, the plurality of workpieces being placed within the specific distance; a driving management unit configured to manage a driving distance and a driving start timing of the transfer device for driving the transfer device each time; a task position generation unit configured to generate a plurality of task positions at the driving start timing managed by the driving management unit, the plurality of task positions being positions for the robot to execute a predetermined task on the plurality of workpieces; a task unit configured to update, according to the driving of the transfer device, the plurality of task positions generated by the task position generation unit and generate a task command to cause the robot to execute the predetermined task on the plurality of workpieces while following the plurality of workpieces; and a control unit configured to co

Abstract: A handling assembly having a handling device for carrying out at least one working step with and/or on a workpiece in a working region of the handling device, stations being situated in the working region, with at least one monitoring sensor for the optical monitoring of the working region and for provision as monitoring data, with a localization module, the localization module being designed to recognize the stations and to determine a station position for each of the stations.

Abstract: A robot system includes a transfer device, a plurality of robots, a sensor configured to detect a workpiece to which a work has not yet been performed, and a controller provided to each of the plurality of robots. The plurality of robots are disposed in series in a transferring direction of a workpiece. When the sensor detects the unworked workpiece and the robot is in a stand-by state, the controller causes the robot to perform the work to the unworked workpiece, and when the sensor detects the unworked workpiece and the robot is working, the controller inhibits the robot to perform the work to the unworked workpiece.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for enhanced path planning. In some implementations, a first path is determined for travel by a robot, the first path extending from an origin to a destination. Path segments are determined based on the first path. A corner between two of the path segments has an angle less than a predetermined threshold is determined. In response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, a bypass path segment is determined that bypasses the corner. A second path for the robot to travel is determined based on the path segments and the bypass path segment. Data indicating the second path is provided to the robot.

Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

Abstract: Embodiments of the present disclosure are directed towards a robotic system and method, which may include one or more robots. The system may include a robotic system having a maximum number of degrees of freedom. The system may further include a graphical user interface configured to receive a natural robot task having at least one natural workpiece constraint associated with the natural robot task. The system may also include a processor configured to identify a minimum number of degrees of freedom required to perform the natural robot task, wherein the minimum number of degrees of freedom is based upon, at least in part, the at least one natural workpiece constraint associated with the natural robot task.

Abstract: An edge positioning apparatus for a solar panel cleaning robot, and a positioning method thereof. The solar panel cleaning robot comprises a car body (10) and an edge positioning apparatus, and the car body travels or is resident on at least one solar panel (200). The edge positioning apparatus comprises an image acquisition unit (13) and an image recognition and processing unit. The image acquisition unit is arranged on the car body and is used for acquiring surface image information about the solar panel on a walking line of the car body. The image recognition and processing unit is used for processing image information, and in turn judging whether the car body is walking at an edge area of the solar panel.

Abstract: A method and a system for pose estimation are provided. The method includes: extracting a plurality of sets of part-feature maps from an image, each set of the extracted part-feature maps encoding the messages for a particular body part and forming a node of a part-feature network; passing a message of each set of the extracted part-feature maps through the part-feature network to update the extracted part-feature maps, resulting in each set of the extracted part-feature maps incorporating the message of upstream nodes; estimating, based on the updated part-feature maps, the body part within the image.

Abstract: Exemplary embodiments relate to techniques for identifying messaging robots, or bots, to surface in response to a request. For example, in order to facilitate increased interaction between a user and a bot, a list of candidate bots that the user is likely to be interested in may be surfaced to the user in response to a search for a bot or a request that a bot perform a particular task. Identifying the bots may be accomplished by generating a list of candidate bots and filtering the list based on filtering metrics. Then, the remaining bots may be ranked based on ranking metrics, and the top bots in the ranking may be returned. In some embodiments, two sets of ranks may calculated: one for retention rate, and another rank for the number of messages sent and received by the bots.

Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.

Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.

Abstract: A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.

Abstract: Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.

Abstract: Techniques of implementing automated secure disposal of hardware components in computing systems are disclosed herein. In one embodiment, a method includes receiving data representing a command instructing removal of a hardware component from a server in a datacenter upon verification. In response to receiving the maintenance command, the method includes autonomously navigating from a current location to the destination location corresponding to the server, verifying an identity of the hardware component at the destination location, and removing the hardware component from the server. The method further includes upon successful removal of the hardware component, generating and transmitting telemetry data indicating verification of the hardware component at the destination location and successful removal of the verified hardware component from the server.

Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.

Abstract: Example embodiments may relate to robot-cloud interaction. In particular, a cloud-based service may receive a query from a first robotic system including sensor data, a request for instructions to carry out a task, and information associated with a configuration of the first robotic system. The cloud-based service may then identify stored data including a procedure previously used by a second robotic system to carry out the task and information associated with a configuration of the second robotic system. The cloud-based service may then generate instructions for the first robotic system to carry out the task based at least in part on the sensor data, the procedure used by the second robotic system to carry out the task, the information associated with the configuration of the first robotic system, and the information associated with the configuration of the second robotic system.

Abstract: A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.

Abstract: This disclosure relates to automating execution of operational tasks in an enterprise network. The method includes segregating a plurality of operational tasks into a plurality of task categories. Thereafter, the method includes mapping each of the plurality of operational tasks to at least one operation pattern based on associated task category from the plurality of task categories, in response to the segregating. The method further includes processing at least one of the plurality of operational tasks based on the at least one operation pattern mapped. Based on the processing, the method includes invoking automatically at least one utility to execute each of the at least one operational task.

Abstract: A data structure for weld programs associates configuration data for a welding system with a plurality of weld programs and weld sequence data. The data structure allows the welding system to be configured for a particular part, operator, or stage in a welding process, and to be easily reconfigured when the part, operator, or stage changes, providing improved efficiency and flexibility in operation.

Abstract: A method for load balancing of robots includes: receiving, by a first task server configured to manage a first spatial region, a task to be performed by a robot; determining, by the first task server, that the task cannot efficiently be performed within the first spatial region; finding, by the first task server, a second task server configured to manage a second spatial region to which the task can be assigned; and sending, by the first task server, the task to the second task server.

Abstract: Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

Abstract: Techniques of implementing automated secure disposal of hardware components in computing systems are disclosed herein. In one embodiment, a method includes receiving data representing a command instructing removal of a hardware component from a server in a datacenter upon verification. In response to receiving the maintenance command, the method includes autonomously navigating from a current location to the destination location corresponding to the server, verifying an identity of the hardware component at the destination location, and removing the hardware component from the server. The method further includes upon successful removal of the hardware component, generating and transmitting telemetry data indicating verification of the hardware component at the destination location and successful removal of the verified hardware component from the server.

Abstract: In one embodiment, a device in a network loads a selectable lexicon. The device receives a command that uses the loaded lexicon. The device interprets the command using the loaded lexicon. The device generates a configuration for one or more network nodes in the network based on the interpreted command. The device causes the one or more network nodes to implement the configuration.

Abstract: Robots may be instantiated on-demand and may be adaptive in response to an environment, application, or event change. The adapted robot may switch functions in order to perform selective operations within medicine, agriculture, military, entertainment, or manufacturing, among other things.

Abstract: Various systems and methods for controlling a robot are described herein.

Abstract: Devices, systems, and methods for controlling manipulator movements at joint range of motion limits are provided. In one aspect, methods include locking one or more joints of the manipulator when the one or more joints hit a respective joint limit by modifying an input into a Jacobian of the manipulator when calculating joint movement of a master control using inverse kinematics to provide improved, more intuitive force feedback through the master control. In some embodiments, scaling and weighting between different joint movements is applied within the inverse kinematics. In another aspect, methods include applying a constraint within the inverse kinematics so that calculated movement of the joints approach joint movements of an identical kinematic chain with applied loads within an isolated physical system.

Abstract: A control apparatus includes a control signal generation unit which generates a control signal Sct, a transmission unit, and a communication switch. The transmission unit transmits a transmit signal St including the control signal Sct to a control target via wireless communication. The communication switch has a first communication disabled state and a communication enabled state, makes a transition from the first communication disabled state to the communication enabled state by a maneuver from outside, and returns to the first communication disabled state when released from the maneuver. Also, the communication switch enables wireless communication by the transmission unit during a period of being kept in the communication enabled state and disables wireless communication by the transmission unit during a period of being kept in the first communication disabled state.

Abstract: A method includes acquiring individual assessment data that includes behavior from player of a construction toy. The construction toy includes at least one sensor to detect an activity of the player with the construction toy. The method further includes determining a goal for the player based on the individual assessment data and a set of group assessment data. The method also includes providing a teaching based on the goal. The method includes permitting the player to play with the construction toy with reduced monitoring or intervention by the processing device during a free play period. The method further includes in response to a determination that free play period is over, prompting the player to perform an activity based on the goal. The method also includes in response to a determination that the player has completed the activity, providing a first reinforcement message to the player.

Abstract: A multidimensional input device includes an anthropomorphic arm with a handpiece which can be grasped by an operator configured to interact with a scenario represented in a display unit. The handpiece is removably associable to the terminal section of the anthropomorphic arm through a magnetic coupling spherical joint and includes: an inertial platform having an accelerometer, a gyroscope and a magnetometer; a gripper provided for the operator. The spherical joint has a spherical head belonging to the terminal section of the anthropomorphic arm or the handpiece, the spherical head being configured to be removable coupled to a corresponding spherical seat belonging to the handpiece or the terminal section of the anthropomorphic arm. The spherical head and/or the spherical seat are magnetized.

Abstract: An apparatus and method for providing robot work data adaptive to changes in a work environment. The apparatus may include a robot work data provider, a robot work data processor, and a robot motion data provider. The apparatus and method define a robot's work using an obtained work path and obtained environmental information, and provide robot motion data to control robot motions to actively adapt to changes in its work environment.

Abstract: An unmanned aerial vehicle (UAV) assessment and reporting system may utilize one or more scanning techniques to provide useful assessments and/or reports for structures and other objects. The scanning techniques may be performed in sequence and optionally used to further fine tune each subsequent scan. The system may include shadow elimination, annotation, and/or reduction for the UAV itself and/or other objects. A UAV may be used to determine a pitch of roof of a structure. The pitch of the roof may be used to fine tune subsequent scanning and data capture to capture perpendicular images of target field of views and/or target distances.

Abstract: Aspects of the subject disclosure may include, for example, a method in which a mobile device determines a current position and direction; detects objects within an area including the current position; collects first data regarding the objects; buffers the first data; and transmits the first data to a remote system responsive to the mobile device reaching a boundary of the area. The method also comprises obtaining a map of the area from the remote device; the map includes information based on second data previously collected regarding objects in the area, the second data includes a position indicator and a direction indicator for each of the second objects indexed by the current position, and the remote device aggregates the first data and the second data to generate an updated map of the area. Navigation instructions are generated based on the current position and the map, Other embodiments are disclosed.

Abstract: A gripper unit for handling a vessel for receiving biological material is proposed, inter alia. The vessel has a lid which can assume an open position and a closed position. The gripper unit comprises a gripper for gripping and releasing the vessel, and a lid holder, for holding a lid in a defined position in relation to the vessel. The defined position is an open position of the lid.

Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

Abstract: According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.

Abstract: A method for processing and imaging a first and second plurality of samples, comprising processing at least one sample from the first plurality of samples, imaging the at least one sample from the first plurality of samples, while being capable of simultaneously processing at least one sample from the second plurality of samples; and imaging the at least one processed sample from the second plurality of samples.

Abstract: Parties having different responsibilities and interests at a monitored location can be given a partial view of the totality of the sensor channels of data generated by the various sensors installed at the monitored location. The partial views deliver customized sets of data streams to customers. The selective distribution of sensor information accommodates the divergent interests and needs of parties responsible for tracking the various characteristics of a monitored location.

Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

Abstract: A method, system, and/or computer program product pre-positions an aerial drone for a user. A model of a user is used as a basis for predicting a future task to be performed by the user at a future time and at a particular location. One or more processors identify sensor data that will be required by the user in order to perform the future task at the future time and at the particular location, where the sensor data is generated by one or more sensors on the aerial drone. A transmitter then transmits a signal to the aerial drone to pre-position the aerial drone at the particular location before the future time.

Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

Abstract: A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

Abstract: Methods for automatic and efficient location generation for cooperative motion. A method includes receiving a cooperative operation comprising a master operation and the slave operation, simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation, populating a plurality of potential locations along the master trajectory, generating a plurality of candidate operations in a population, for each of the plurality of candidate operations in the population, simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation and removing the candidate operation from the population when the efficiency factor is not better compared to other candidate operations in the population and returning the candidate operation remaining in the population.

Abstract: A coordinated transport robot system according to an embodiment includes: first and second robots each including a mobile unit and a movement control unit; first and second position error absorption mechanisms provided on the first and second robots; an impedance model estimating an external force from the amount of displacement detected by the passive element unit; an external force estimating unit estimating respective external forces acting on the first and second robots based on external forces estimated with a dynamics model and estimated by the impedance model; a compliance model calculating respective position correction amounts of the first and second robots to make an external force zero; and a movement command calculating unit calculating movement commands to the first and second robots based on the position correction amounts. Each of the movement control units control the respective mobile units based on the respective movement commands.

Abstract: An operating mechanism of medical device includes a first shaft, a driving source which generates an auxiliary driving force, a second shaft which is operated by the auxiliary driving force, a connecting part which connects the first motion transmission part with the second motion transmission part, transmits the auxiliary driving force from the second motion transmission part to the first motion transmission part, wherein at least a part of the connecting part is capable of an elastic deformation; a detecting unit which detects at least one of a first operation amount of the first motion transmission part and a second operation amount of the second motion transmission part; a control unit that which controls the driving source based on the first operation amount and the second operation amount detected by the detecting unit; and a regulating unit which regulates so that an amount of the elastic deformation of the connecting part is equal to or more than a predetermined amount.