Abstract: A method and system of projecting light on a planar surface to produce an image for tracing is disclosed. The system includes a projector that has a light source and a signal conditioner that is operably connected to the projector. A computer is operably connected to the signal conditioner. A scanner is connected to the projector. A test pattern from the computer is projected from the projector through the scanners to visually align an image to a sector on a work surface. A grid is operably aligned with the work surface. A geometric pattern from the computer is then projected by the projector on the planar work surface for tracing. The method comprises the steps of creating a pattern, tracing lines along the pattern on the planar work surface, cutting the pattern along the traced lines, discarding pieces of the planar surface outside the pattern, and placing edging along an outer edge of the pattern.

Abstract: A gamma camera system is described having a user interface by which protocols can be set up for the simultaneous acquisition of different views. Pull-down menus prevent the selection of incompatible simultaneous views for acquisition. The protocol being assembled, including its sequential steps and multiple simultaneous views, are displayed to the user.

Abstract: The system and method herein provide a prealigner that has reduced sensitivity to distorting ambient light influences in the environment of a prealigner integrated in a metrology apparatus. A modulated signal is produced by a photo detector in response to modulated light that is partially shielded by wafer positioned in a gap between light source and detector. The pulsed signal is bandpass filtered and demodulated whereby only the difference between high- and low-levels of the pulsed signal are recognized. Flickering and DC components related to ambient light and other distorting operational influences are removed from the analysis unrecognized. Demodulation is synchronously accomplished together with a switching of the light source's power supply. For stable voltage levels of the power supply, a current source is buffered during off-intervals for a constant load on the current source.

Abstract: When actual measurement data of a wavefront aberration of a projection optical system is input, a main controller calculates a targeted image forming characteristic of the projection optical system based on the data and a Zernike sensitivity table of the image forming characteristic that is made prior to the input. By using the Zernike sensitivity table, the targeted image forming characteristic can be calculated with only one measurement of wavefront aberration. Moreover, parameters that denote a relation between an adjustment of an adjustable specific optical element and a change in the image forming characteristics of the projection optical system is obtained in advance, and are stored in advance in a storage unit.

Abstract: A method, apparatus, control system and computer program product are provided for controllably positioning the solar concentrator. The method, apparatus, control system and computer program product determine the respective errors generated by more and different error sources than prior techniques, including error sources selected from the group consisting of a gravitational residue error, an elevation transfer function error and an error attributable to atmospheric refraction. Based upon the respective errors, the method, apparatus, control system and computer program product determine an elevation command and an azimuth command to compensate for the vertical error and the horizontal error between the centerline of the solar concentrator and the sun reference vector such that the solar concentrator can be more precisely positioned, thereby improving the efficiency with which the solar concentrator collects solar energy.

Abstract: A position display system for displaying a position of a device, the system including a device, a position measuring device that measures a position of the device and a host readout device that is mounted at a first location. The host readout device receives a signal from the position measuring device that is representative of a position of the device, wherein the host readout device includes a display that displays an image representative of the position of the device. A remote readout device that is mounted at a second location, wherein the remote readout device includes a display that displays the image.

Abstract: A method of recording aligned images on two sides of a printed circuit board substrate, including: recording an image of an electrical circuit pattern on a first side of a printed circuit board substrate; forming an alignment pattern on a side of the printed circuit board substrate, wherein the alignment pattern has a known spatial relationship to said image of an electrical circuit pattern; determining a location of the alignment pattern on the printed circuit board substrate; and recording an image of an electrical circuit pattern on a second side of the printed circuit board substrate in response to the determined location of the alignment pattern.

Abstract: A positioning system including a sensor, a drive sequencer and an actuator. The sensor senses the actuator position and provides position signals to drive the sequencer which responsively computes and drives the actuator in open loop moves containing dwell intervals of position. The actuator positions a mirror or other load means to reflect an optical beam as desired. Either preprogrammed or non-repeating sequences of actuator stopping positions can be synchronized with a laser. During dwell times, mirror position accuracy better than 10 microradians is suitable for tuning CO2 pulse burst or CW lasers.

Abstract: A composite system for radiation therapy includes a CT scanner for checking the position of an affected portion of a patient to be irradiated, an irradiation apparatus for disposing, on the basis of positional information of the affected portion checked by the CT scanner, the patient at a specific position at which the affected portion is aligned to an irradiation position, and performing irradiation to the affected portion, a common bed used for the CT scanner and the irradiation apparatus, in a state that the patient lies on the common bed and moving means for moving the patient from the CT scanner to the specific position of the irradiation apparatus.

Abstract: An apparatus for processing wafers one at a time. The apparatus has a vacuum chamber into which wafers are loaded through a pair of loadlocks which are spaced one above the other. A robot within the vacuum chamber has a pair of gripper arms which are moveable along and rotatable about a vertical axis so as to be moveable between the loadlocks and a wafer processing position. Each of the loadlocks has a vertically moveable portion which is moveable away from the remainder of the loadlock to provide access in a horizontal plane for one of the gripper arms. Signals from encoders and optical sensors are used to determine that a handoff position has been reached.

Abstract: The optimized band saw feed speed system of this invention is associated with a saw mill carriage reciprocable past a band saw by a power drive motor. The feed speed control system utilizes a first laser line arranged to allow video scanning of the diameter profile of a log on the carriage for measuring the impending depth of cut by the band saw blade as the carriage moves the log through the band saw. A second laser line is arranged to show on the band saw blade for detecting the lateral deviation of the blade from its path. A video camera is arranged to cover the diameter of a log on the carriage and to view the laser line projections and control the speed of the power drive motor of the carriage, to provide optimum speed of movement of the log through the band saw.

Abstract: There are the steps of conveying a glass plate by a roller conveyor including a plurality of rollers; and moving a roller in contact with the glass plate in conveyance to position the glass plate so as to conform a posture of the glass plate to a reference posture.

Abstract: An imaging compensation or transformation method for signals detected by a sensor which is placed arbitrarily away from its ideal location into signals which would result if the sensor were in the ideal location. This method links movement of the on-screen cursor to the movement of the ball by a user. The actual location of the sensor in the device can be at any necessary location relative to the other components of the device within the housing, and the necessary transformation functions can be calculated and applied to the signals. Enabling placement of the sensor at a location which is displaced from the ideal location provides degrees of design freedom to optimize ergonomic and aesthetic factors. The compensation or conversion method is a transformation which simulates the sensor being disposed at the ideal location regardless of where it is actually placed. This is done by defining a user vector space, a sensor vector space and a reported vector space.

Abstract: Extremely small optical heads are being developed for use in optical storage devices. The heads typically include a light source, a lens and a photodetector array. The beam of light generated by the light source must be aligned precisely with central axis of the lens and with the photodetector array. Because the heads are so small, their components are fixed permanently together; no adjustments are possible after assembly. A system of this invention includes a rotational stage, a pair of X-translation stages, and a pair Y-translation stages. The stages are mounted in a mechanical path between first and second holding devices. One component of the head, which would typically include the light source, is held in the first holding device. Another component, which would typically include the lens, is held in the second holding device. The stages are adjusted until the light beam exits the first component on an axis that coincides with the center of rotation of the rotational stage.

Abstract: A computerized system and method for reducing bond program errors in a slave bonder, prepared to attach connecting bonds onto bond pads of a slave integrated circuit, by first collecting, on a master bonder, input data concerning bond x-y locations, alignment reference x-y locations, and alignment reference images from a master integrated circuit, then analyzing these data to construct a network of relationships between reference images and bond locations, and store data and relationships in a master file. Secondly, on a slave bonder, all this information is automatically retrieved and compared by a computer with input data concerning alignment reference images from a slave circuit. Thirdly, any discrepancy found is corrected by a computer to identify the new bond locations on the slave circuit. Finally, the slave bonder attaches the connecting bonds based on the computed correct bond locations.

Abstract: A lighting system operating using a digital mirror as its operative device. The digital mirror is used to shape the light which is a passed through advanced optical devices in order to produce an output.

Abstract: A method for calibrating a first co-ordinate frame of a robot and effector in a second frame of reference of a sensor when the sensor is substantially rigidly attached to the robot and effector, including the steps of measuring first positions of a plurality of first light sources relative to the sensor, with the first positions corresponding to a first absolute position of the robot and effector, moving the robot and effector, measuring second positions of the plurality of first light sources, which second positions correspond to the desired second absolute position of the robot and effector and the sensor, repeating the measurement of and movement from the first to second positions so as to provide at least two sets of measurements of first and second positions corresponding to at least two movements, each of which at least two movements is a known, unique transform, combining the at least two sets of measurements of first and second positions so as to calibrate the first co-ordinate frame in the second fra

Abstract: A system for target identification in a vehicle wheel alignment system includes first and second units. A target with at least four collinear reference points is attached to the first unit, and an image sensor is attached to the second unit. The collinear reference points have at least one known cross-ratio, and the image sensor has an imaging element that produces an image data-set to capture an image of the target. The system also includes a processor for identifying image points within the image data-set and for calculating vehicle wheel alignment information using the image data that corresponds to the target. To identify the image data corresponding to the target, the processor computes a series of cross-ratios for sets of four points within the image data-set and rejects noise points by comparing the cross-ratios to the known cross-ratio.

Abstract: In the present invention, control amounts are input from plural sensors. Good/bad determination is performed to determine whether all deviations of control amount variables are within tolerable ranges. If a determination result is “bad”, it is determined whether a position in a control amount deviation space is present in success experiences learnt at this time point. If there is the experience, a learning control using the operation amount of the success experience is executed. Otherwise, the operation amount is determined based on an adaptive control.

Abstract: A position control system includes a PID controller for generating a current target value of a linear motor from a difference between a positional detected value and a positional command value, and a disturbance observer. The disturbance observer includes a signal processing unit comprising a filter for filtering a torque command value for a motor drive and an input torque estimating filter carrying out estimation for obtaining an estimated input load torque from the detected positional value. An inverse model of a motor torque constant calculates an estimated disturbance load torque from the difference between the filtered torque command value and the estimated input load torque and generates a correction value for the current target value so as to cancel a disturbance torque on the basis of the estimated disturbance load torque being calculated.

Abstract: A process device couples to a process control loop. The process device receives process signals. A memory in the process device contains a nominal parameter value and a rule. Computing circuitry calculates a statistical parameter of the process signal and operates on the statistical parameter and the stored nominal value based upon the stored rule and responsively provides an event output based upon the operation. Output circuitry provides an output in response to the event output. The statistical parameter can be used in statistical process control systems.

Abstract: Transfer of liquid crystal panels to next processes is carried out with the panels placed on transfer arms (6) and held by suction pads (12). A small suction force can be sufficient, and a suction irregularity is prevented. Transfer arms are arranged at the lower side of liquid crystal panels, thus not obstructing the liquid crystal panels. In arranging the liquid crystal panels to an image pickup device (111), a panel hold device (112) is controlled to drive to position panel marks to a bonding height position with negating a deflection amount of the liquid crystal panels, and furthermore a component hold device is controlled to drive to position component marks to the bonding height position and to mount electronic components to the liquid crystal panels at the bonding height position. Thus, an accuracy for mounting electronic components can be improved in comparison with the conventional art.

Abstract: A method for compensating signals from an absolute angular position sensor assembly is used in conjunction with an absolute angular position sensor assembly having an input gear coupled to a rotating shaft. The input gear is meshed with an output gear that rotates as the input gear and the shaft rotate. The sensor assembly includes an input gear sensor and an output gear sensor placed in proximity to the input gear and output gear, respectively. The gears are configured so as to be sensed by the sensors. The method includes determining an angular position compensation value that is used to adjust an absolute position of the input gear, which in turn is used to compute the absolute position of the rotating shaft.

Abstract: The invention relates to a method and apparatus for producing card-shaped data carriers. The method has at least one production step requiring a data carrier of a defined type or quality or in a defined position and/or changing the data carrier in irreversible fashion or in a fashion which can be reversed only by additional expense. The data carrier is optically tested before or after said production step, and the further processing of the data carrier controlled depending on the result of said test.

Abstract: A system and associated method for aligning semiconductor wafers and wafer-like objects relative to a transport mechanism. An image of, for example, a wafer is acquired, digitized, and stored in a computer as an array of pixels, each pixel representing a point on the image. Data points along the edge of the wafer are extracted and used to geometrically estimate the center of the wafer object. The estimated wafer center is then compared to the position of a predetermined reference position to determine an offset. Using this information, the wafer transport mechanism can then be re-adjusted to pick up the wafer on the corrected center.

Abstract: The invention relates to an apparatus for picking and placing small objects. It is equipped with a tool holder that can be positioned in an X-, Y- and Z-direction. A pickup tool is mounted to the tool holder and can be rotated about a vertical axis. A microscopic and a macroscopic camera with non-parallel axes are arranged on the tool holder for viewing the objects from above, and a lookup camera is provided to view the objects from below. The housing of the apparatus as well as a first movable frame are formed by perpendicular walls, which are light but provide stability for placing the tools accurately. An object dispenser is located below a transfer opening of a working platform of the apparatus for quick access to new objects. A control unit provides a graphical user interface for controlling the operation of the apparatus.

Abstract: An apparatus and method for controlling a mechanism for positioning video cameras for use in measuring vehicle wheel alignment includes optical targets for mounting to the wheels of a vehicle, at least one video camera for viewing said optical targets and producing at least one image thereof, a computer system for measuring said at least one image and for using said measurements to compute vehicle wheel alignment information, a positioning system for positioning said at least one video camera such that said optical targets are visible to said at least one video camera and such that said at least one video camera can produce said at least one image of said targets, and a controller for controlling said positioning system such that a user of said apparatus can cause said at least one video camera to be positioned in at least one desired position and such that said user can further cause said controller to remember said at least one desired position so that any user can, at a later time, cause said controller to

Abstract: In a semiconductor exposure apparatus, when a trouble such as a wafer chuck error which requires operator's action in the chamber occurs, execution or interruption of the exposure sequence is determined on the basis of the situation of the exposure sequence, and unlock of the door of the chamber is controlled on the basis of the determination result. After the error is eliminated, lock of the door is controlled, and the exposure sequence is resumed. By eliminating human factors in operation and making the time required for restoration as short as possible, the interruption time of the semiconductor exposure apparatus is minimized to improve the operation efficiency of the manufacturing line.

Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.

Abstract: In a bonding method and apparatus, a position-detecting camera is moved to a point above reference marks, and the positional relationship between the reference marks and the optical axis of the position-detecting camera is measured by the position-detecting camera, a bonding tool is moved to a point above the reference marks in accordance with an amount of offset stored in memory beforehand, the positional relationships between the reference marks and the tool are measured by an offset-correcting camera, and an accurate amount of offset is determined by correcting the mount of offset stored in memory beforehand based upon such a measurement result.

Abstract: A cross-section of one of the strips in a frame is digitized in binary format by means of a scanner and graphically visualized; dimensions of the cross-section and points suitable for positioning a strip locking device are determined, together with points of application of the stapling elements and the number of the elements to be applied in each point. A frame assembling machine is then activate to perform the actual stapling of the strips.

Abstract: Device configuration information is automatically determined with respect to a physical process that multiple devices monitor or control. The physical process is exercised, with each device tracking progression of the process and determining a preceding device and a successor device. Messages are produced in a configuration mode by each device in a system indicating when some phase of the process monitored by the device begins and ends.

Abstract: A method of recording aligned images on two sides of a printed circuit board substrate, comprising:

Abstract: There are provided a component suction site-teaching system and method for an electronic component-mounting apparatus including a vacuum nozzle having a nozzle end face for picking up an electronic component thereat by vacuum. The vacuum nozzle is moved in directions of X axis and Y axis. An image of the electronic component set at a pickup position is taken. A graphical image of the nozzle end face of the vacuum nozzle is created from shape data of the vacuum nozzle. The image of the electronic component taken by the image taking means and the graphical image of the nozzle end face created by the image creating means, are displayed on a screen such that the graphical image of the nozzle end face is superimposed on the image of the electronic component.

Abstract: Apparatus and method for determining the alignment positions and orientations of vehicle wheels includes optical targets mounted on the wheels. A pair of cameras or other image sensing devices on each side of the vehicle are used to obtain images of the various optical targets and a computer is responsive to the images of the targets to determine values of wheel alignment parameters of the vehicle. The surface on which the wheels are disposed may be an automotive lift or a stationary runway. One camera on each side is directed at the target on the corresponding front wheel and the other camera on each side is directed at the target on the corresponding rear wheel. When used with a rack, the major axis of the field of view of each camera is disposed vertically. When used with a stationary runway, the major axis of the field of view of each camera is disposed horizontally.

Abstract: A part identification system for non-intrusively identifying a subset of parts cut from a sheet material. The part identification system includes a visual signal generator for projecting an identifying image associated with a given subset of cut parts. A labelling program accesses a database, generates a control signal including the part location and identifying image and sends the signal to a controller. The controller directs the identifying image from the visual signal generator to identify the cut parts.

Abstract: An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.

Abstract: A machine tool is controlled through a process incorporating the steps of (1) measuring geometric and thermal errors with accurate instruments, (2) creating a global differential wet model of machine tool position, and (3) using this model to control real time compensation of machine tool operation. A controller modifies encoder-type position feedback signals used by the machine to compensate for geometric and thermal errors in the manner dictated by the global differential wet model.

Abstract: A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained.

Abstract: A die bonder equipped with an image recognition unit having a zoom optical system for placing a chip to a correct location in accordance with recognition results delivered from the image recognition unit. Data related with the recognition offset data that specify a relationship in the relative location between optical coordinates system and mechanical coordinates system, and the pixel rate, etc. are stored in advance in a correction magnification index memory section, maintaining linkage to respective zoom magnification indices. Results of recognition are converted from a location information in terms of an optical coordinates system into a location information in actual dimensions in terms of a mechanical coordinates system of the die bonder, using a datum selected among the data in accordance with a magnification index at which the chip was pictured by a camera of an image recognition section.

Abstract: A substrate center-finding method and apparatus, for determining the center of a substrate being passed through a substrate handling chamber of a substrate processing system, includes any number of sensors arranged in any configuration and permits the substrate to pass through any trajectory that triggers the sensors. The locations of the sensors are calibrated by homing in on the sensors using a point, the reference point, near the tip of an arm assembly on a substrate handler. The substrate handler has an encoder for sensing the pivot angles of links in the arm assembly, whereby the coordinates of the reference point can be calculated from the angles and lengths of the links. When the substrate triggers a sensor, the location of the reference point is again calculated, and the coordinates of the trigger point on the edge of the substrate is determined relative to the reference point.

Abstract: A controller for a work transfer system, capable of performing precise positioning of feed bars during sole driving of the transfer system and simplified in structure to contribute to savings in installation space and cost. The controller has a cam angle detector mounted on a cam shaft for feed cams and controls servo motors for respective lift bars according to information which is related to cam angle of the feed cams detected by the cam angle detector and looked up in a motion table set by a transfer controlling PLC serving as a motion table setting means.

Abstract: Short-circuits are liable to occur between the two conductors in a system in which data and/or energy is transmitted to a plurality of receivers/users via two conductors. Transmission is then interrupted and the supply source is inadmissibly over-loaded. The invention provides disconnecting units which recognize occurrence of short-circuits between the conductors and, in response thereto, isolate the part of the system in which the short-circuit has occurred from the supply of data and/or energy, so that the remainder of the system remains operational. After removal of the short-circuit, the isolated part is automatically re-connected to the system. The potential on the conductors ahead of and following a disconnecting unit is monitored via current limiting circuit elements which bridge a switch in the disconnecting unit.

Abstract: A material to be cut has a face to be cut with a cutting tool, and a cutout which temporarily brings the cutting tool into a noncontact state. Images of the cutting tool during the period when it attains an exposed state by passing over the cutout are captured with a camera mechanism at an interval of a predetermined delay time .tau.. A plurality of image information items obtained by these capturing operations include temperature change information of each location as the cutting tool gradually passes from the point of instant when it enters the cutout. Therefore, the image information items are arranged in relation to the exposure time from the point of instant, and a two-dimensional temperature distribution of the cutting tool at the point of instance is computed according to the tendency of change in image information.

Abstract: A method for repairing a printed circuit board includes the step of generating fault data relating to the plots or layout of a printed circuit board from a circuit board testing device. The printed circuit board under test is positioned on a workstation. An image containing repair data based on the fault data is projected directly onto the printed circuit board and is overlaid in registration with the plot or layout of the printed circuit board to assist in operator repair.

Abstract: Automatic tracking lighting equipment for automatically tracking a target to be illuminated. A spotlight is supported for pivoting in horizontal and vertical directions on a ceiling surface. A horizontal drive mechanism changes the horizontal angle of the spotlight and a vertical drive mechanism changes the vertical angle of the spotlight. A CCD camera picks up the image of a target area to be illuminated. An image recognition unit processes the image from the CCD camera to recognize the target to be illuminated and to specify its coordinates. A coordinate calculation unit calculates how far to move the spotlight based on a distance of the target to be illuminated. A movable control unit converts the output of the coordinate calculation unit into drive signals for the horizontal drive mechanism and for the vertical drive mechanism and outputs drive signals to pivot the spotlight in a desired direction.