Abstract: According to a method according to the invention for controlling at least one manipulator, in particular a robot, a plurality of control commands (P, B, F) are worked through, in that in a state machine (ZM) the respective command runs through an active state (-A), wherein in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or a plurality of control commands are processed at the same time.

Abstract: A method according to the invention for planning and/or controlling a robot application (1) on the basis of system and/or process parameters (M1, . . . M7, G1, . . . G7, B1, K1, S1, H1, W1, F1, U1, R1), includes these steps: storing parameter values, and planning and/or controlling the application on the basis of stored parameter values, wherein parameters are managed with the aid of a graph structure (FIG. 2).

Abstract: In order to program the sealing membranes to be applied to attachment parts of vehicle bodies, for example to the edge-formed seam of vehicle doors using a robot, an attachment part may be removed from the body and, away from the latter, be mounted on a teach frame where all regions of the attachment part which need to be coated are highly visible to the programmer during programming.

Abstract: The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (1-6) and a controller (17). A medical tool (21 -24) is fixed to a fixing device (18) on the robot (R) and the working range (30) of the robot (R) is set by the controller (17) in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (21-24).

Abstract: A robot system rapidly performs a motion based on a gesture recognized from a user and achieves a smooth interface with the user. The system receives a gesture input by a user, and sets a position of a first gesture as a reference position, if the gesture input by the user is recognized as the first gesture. The system also judges a moving direction of a second gesture from the reference position if the gesture input by the user is recognized as the second gesture. The system recognizes a command instructing a robot to perform a motion corresponding to the judged moving direction.

Abstract: An apparatus and method is disclosed wherein motion data which define motions of an end effecter of a robot such as a hand tip can be produced simply and conveniently. The apparatus and method provide a motion editing environment in which motion data for allowing a robot to plot a picture or a character can be edited simply and conveniently based on interactions such as hand-written inputting of a user through a mouse, a tablet or the like. By reproducing the produced motion data on a robot, a motion of plotting an arbitrary character or picture by the robot can be implemented simply.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: A system includes a rotary device, a rotary absolute position (RAP) sensor generating encoded pairs of voltage signals describing positional data of the rotary device, a host machine, and an algorithm. The algorithm calculates calibration parameters usable to determine an absolute position of the rotary device using the encoded pairs, and is adapted for linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters. A method of calibrating the RAP sensor includes measuring the rotary position as encoded pairs of voltage signals, linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters, and calculating an absolute position of the rotary device using the calibration parameters. The calibration parameters include a positive definite matrix (A) and a center point (q) of the ellipse. The voltage signals may include an encoded sine and cosine of a rotary angle of the rotary device.

Abstract: Disclosed are a robot deciding a robot's task operation by separating raw information from specific information and a method of controlling the robot. The robot includes an information separation unit to separate raw information and specific information, an operation decision unit to decide a task operation of a robot by inferring a circumstance, a user's intention, task content, and detailed task information from the separated information, and a behavior execution unit to operate the robot in response to the decided task operation of the robot.

Abstract: A methodology for using cortical signals to control a multi jointed prosthetic device for direct real-time interaction with the physical environment, including improved methods for calibration and training.

Abstract: A robotic 5D ultrasound system and method, for use in a computer integrated surgical system, wherein 3D ultrasonic image data is integrated over time with strain (i.e., elasticity) image data. By integrating the ultrasound image data and the strain image data, the present invention is capable of accurately identifying a target tissue in surrounding tissue; segmenting, monitoring and tracking the target tissue during the surgical procedure; and facilitating proper planning and execution of the surgical procedure, even where the surgical environment is noisy and the target tissue is isoechoic.

Abstract: In an operating system having a first controller configured to manage one or more robots included in a first region, and a second controller configured to manage one or more robots included in a second region adjacent to the first region, a method for enabling the second controller to acquire an operation right of N robots (where N is a natural number equal to or greater than 1) operated by the first controller, the method includes: transmitting a control mapping status (CMS) containing an operation right change message to the first controller, upon reception of an operation right request signal from a user of the N robots; and checking a connection status of the N robots, upon reception of the CMS containing the operation right change message from the first controller, and acquiring an operation right by providing CMS acquisition information and control mapping information to the robots included in the second region.

Abstract: A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v0-vn, which is a difference between a target velocity v0 and a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.

Abstract: The invention relates to an apparatus for the uniform distribution of microparticles in a liquid, said apparatus comprising a storage chamber 1 including a suspension of microparticles and liquid, a mixing head 2 for receiving the suspension, and a pump 3 which is connected to the storage chamber 1 and the mixing head 2 for sucking the suspension from the storage chamber 1 into the mixing head 2, said mixing head 2 having at least one well 4 with a flow turbulator 5 and an overflow 6 which is connected to the storage chamber 1 via an opening 7, characterized in that the storage chamber 1 has a pin 14 and/or a rotary inlet 15 and a rotary runback 16 which are connected to the pump 3. The apparatus can be used for the identification, characterization and purification of proteins. The invention is also directed to a method for the uniform distribution of microparticles in a liquid, which method generates a turbulent, quasi-static state.

Abstract: An exemplary painting robot and corresponding operating methods for the same are disclosed. The robot may be configured to paint motor vehicle bodies on an outer surface and an inner surface with an atomizer that is guided by the painting robot. According to the exemplary illustrations, the painting robot is suitable for painting the outer surfaces and for painting the inner surfaces of the motor vehicle bodies.

Abstract: A mobile apparatus capable of moving or acting autonomously while flexibly avoiding contact with a moving object in accordance with various situations is provided. In a case where a second safety condition is not satisfied because, e.g., a first target trajectory cannot be found, a second target trajectory causing a first spatial element to approach the boundary of an element passing region is searched for and determined. A robot autonomously approaches the boundary of the passable region in accordance with the second target trajectory determined as a provisional target trajectory, and stops at the position corresponding to the end point of the second target trajectory. Such movement of the robot along the second target trajectory increases the space, making it possible to prompt an object to move through the space.

Abstract: In order to insert packages, particularly bags (10) having fragile packaging goods into containers or cartons (14), the carton (14) is held ready in a packing station (16) such that the bags (10) can be inserted into the carton (14) by means of a delivery device, particularly a pusher (56). In order to create different, ordered formations of the bags (10) within the carton (14), said carton can be moved during the filling or packing process such that the packing formation is created due to a corresponding relative positioning of the carton (14) at a predetermined feed plane.

Abstract: A robot control system has a portable operating device TP and a robot control device RC. The portable operating device TP is actuated by a rechargeable secondary battery and used to operate a robot R. The robot control device RC is capable of wireless communication with the portable operating device TP and performs automatic operation of the robot R based on teaching data provided by the portable operating device TP. The robot control system causes an emergency stop of the robot R when the wireless communication between the portable operating device TP and the robot control device RC is interrupted. The robot control system further includes a charging device CU, a connection monitoring section 12, and an automatic operation continuing section 11. The charging device CU charges the secondary battery by electrically connecting the portable operating device TP to the robot control device RC.

Abstract: A transmission-side robot control device (21) and a receiving-side robot control device (21) each include an EPROM (27) which stores a software update program and robot motion control software, a RAM (24) which stores the software update program read from the first storage section (27), and storage media (26B) which stores update software. An external terminal or a host computer for software update is not needed, and a plurality of robot control devices can be standardized to have even an old version. It is not necessary to check a version currently stored, and the update can be performed at high speed.

Abstract: A learning control system according to the present invention is one which performs learning of action values of actions in an apparatus which identifies its state as one of predetermined states, and selects an action based on the obtained action values and the identified state. The learning control system includes n action value learning devices including the first to the n th learning devices which perform learning of n action values from Q1 to Qn, assuming that n is a positive integer and an action value determining device which determines the total action value of an action Q of each state based on outputs of the n action value learning devices.

Abstract: An improved method and apparatus for extracting and handling samples for S/TEM analysis. Preferred embodiments of the present invention make use of a micromanipulator and a hollow microprobe probe using vacuum pressure to adhere the microprobe tip to the sample. By applying a small vacuum pressure to the lamella through the microprobe tip, the lamella can be held more securely and its placement controlled more accurately than by using electrostatic force alone. By using a probe having a beveled tip and which can also be rotated around its long axis, the extracted sample can be placed down flat on a sample holder.

Abstract: An integrated additive manufacturing cell (IAMC) that combines conventional manufacturing technologies with additive manufacturing processes is disclosed. Individual IAMCs may be configured and optimized for specific part families of complex components, or other industrial applications. The IAMCs incorporate features that reduce hardware cost and time and allow for local alloy tailoring for material properties optimization in complex components.

Abstract: A haptic communication system having a range of sensors embedded with an operator's attire. Data collected by the sensors is processed by a computing device local to the operator and is communicated via a haptic modality in real-time to other team members and robotic assets in the system.

Abstract: The invention relates to a carrier device for a hose packet 5 of supply lines of a working robot. The hose packet 5 is secured by the intermediary of a compensator 6 to a carrier element 7, which can be lowered from a high operating position above the working robot 4 into a lower maintenance position at floor level by way of traction means. Thanks to the compensator 6, in the operating position the hose packet is on the one hand held high, but, on the other hand, can also give when force is applied.

Abstract: A decision mechanism is configured to decide on at least one prospective action of a robot from set of actions by: computing a prior probabilistic representation of a prior environment state; updating the prior probabilistic representation with targets of a new observation on reducing at least one uncertainty in a posterior probabilistic representation of a posterior environment state to be reached after an appliance of the at least one prospective action, the posterior probabilistic representation resulting from the updating; determining an information gain between the prior probabilistic representation and the posterior probabilistic representation by use of at least one information theoretic measure; evaluating the at least one prospective action by adding costs of executing the at least one prospective action to the information gain. Furthermore, an improved action planning for robots is provided and can be implemented in various robots investigating scenes for their actions.

Abstract: The present disclosure provides a maskless lithography apparatus. The apparatus includes a plurality of writing chambers, each including: a wafer stage operable to secure a wafer to be written and a multi-beam module operable to provide multiple radiation beams for writing the wafer; an interface operable to transfer wafers between each of the writing chambers and a track unit for processing an imaging layer to the wafers; and a data path operable to provide a set of circuit pattern data to each of the multiple radiation beams in each of the writing chambers.

Abstract: There is provided a mini environment type transfer unit which can efficiently transfer a sample to a critical dimension scanning electron microscope (CD-SEM) even in the case of use of a SMIF pod which can store only one photomask. In addition to a load port, a stocker which can store a plurality of photomasks is provided in the mini environment type transfer unit. A mask storage slot in which a plurality of storage units are stacked is provided in the stocker, and one photomask is stored in each storage unit. A sensor is provided in each storage unit to determine whether or not the photomask is normally stored. Additionally, a sensor is provided in each storage unit to detect whether or not the photomask exists.

Abstract: A method and system for aligning robotic wafer transfer systems provides a wafer cassette having one or more wafer slots having portions covered with an electrically conductive material and a sensor that is in electrical communication with the electrically conductive material. When a wafer is loaded into a wafer cassette such as may be contained within a wafer transfer module such as a FOUP, an indication of position is delivered to the sensor which detects the alignment and indicates if the loaded wafer undesirably contacts either or both of the opposed grooves that form the wafer slot of the wafer cassette. An indication of the wafer's position may be provided from the sensor to a controller that delivers a signal for aligning the wafer transfer blade of the wafer transfer robot responsive to the signal indicative of position.

Abstract: The invention relates to an apparatus for the operation of a robot having a product gripper which is designed to represent at least one approach position of the product gripper for the picking up and/or placing down of a product, in particular of a food product, as a graphical element on a display device. The apparatus is designed so that the respective graphical element can be directly displaced on the display device for the setting of the coordinates of the respective approach position, with the coordinates of the respective approach position being changed automatically in response to such a displacement of the graphical element in accordance with the displacement.

Abstract: At least one client robot in a domain are connected to a domain security management unit and a root security management unit is connected to at least one external server outside the domain and the domain security management unit via a network. A method for providing secured network robot services includes generating, at the domain security management unit, a shared key between the client robot and the external server when the client robot requests key distribution; generating, at the domain security management unit, a key distribution request message containing the shared key; and transmitting, at the domain security management unit, the key distribution request message to the external server.

Abstract: Work is performed in cooperation in a common region by a plurality of apparatuses and a human being, and at this time, human resources are used effectively, and the work is performed efficiently. When components A, B and C are processed by three apparatuses a, b and c and one person in, in the first process, the component A is processed by the person m, and the components B and C are processed by the two apparatuses b and c. In the second process, the component B is processed by the person in, and the components A and C are processed by the two apparatuses a and c. In the third process, the component C is processed by the person m, and the components A and B are processed by the two apparatuses a and b. The timings at which the person m intervenes in the respective apparatuses are prevented from overlapping in this manner, by which the work is performed efficiently.

Abstract: A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

Abstract: A method and apparatus for high-pressure pasteurization utilizes a basket (40) for holding food packages (95). The basket (40) is transported on a cart (60) from a loading station (90), to the high-pressure pasteurization processing apparatus (10) and back to an unloading station (100). Two robots (17, 18) are utilized to reduce cycle time of the high-pressure pasteurization vessels (11).

Abstract: An alignment adjusting apparatus of a robot to execute conveying operations of putting and taking an object to be conveyed in and out of an accommodating shelf includes at least two reference flags to be installed in the accommodating shelf; a flag measuring unit to measure the reference flags on the robot positioned at the reference flags; and an alignment adjusting unit to adjust an alignment shift of the robot corresponding to an inclination of the robot, the inclination being obtained from a variation of a measured value of each of the reference flags by the flag measuring unit.

Abstract: A robotic architecture for capturing the autonomous performance advantages the animal models enjoy in the natural environment is disclosed. A biomimesis process is employed to allow selective utilization of basic physical components and adaptation of a common control paradigm for each of different vehicle types. The biomimetic architecture involves five functional elements: a basic biomorphic plant for capturing the biomechanical advantages of the model organism; a neural circuit-based controller consisting of a finite state machine; myomorphic actuators producing linear graded force in response to trains of current pulses for mediating movements; labeled line code output by neuromorphic sensors; and a reactive behavioral sequencer executing command sequences defined within a behavioral library.

Abstract: A monitoring device for monitoring an abnormal load or unload operation of a wafer. The monitoring device includes a sensing unit and a detective unit. The sensing unit is for providing a sensing information, which indicates whether the wafer protrudes from a side of a carrier. The detective unit is for determining whether a duration, for which the wafer protrudes from the side of the carrier exceeds a predetermined time, for which the wafer is loaded or unloaded, according to the sensing information. If the duration exceeds the predetermined time, the detective unit further triggers an abnormal event.

Abstract: Embodiments of the invention are directed to systems, methods, and apparatus for providing continuous power and utilities to a fixture in a manufacturing process. In one embodiment of the invention, a system with robot, such as a robotic arm, and a workstation can be deployed in a manufacturing process. A fixture associated with the manufacturing process can include a mount operable for receiving power from the robot or robot arm, and another mount operable for receiving power from the workstation. An associated control device, such as a programmable logic circuit, can selectively provide power via either mount depending on whether the fixture is mounted to the robot or robotic arm, or to the workstation.

Abstract: A system, method, and computer readable-media for creating a stable synthetic neural system. The method includes training an intellectual choice-driven synthetic neural system (SNS), training an emotional rule-driven SNS by generating emotions from rules, incorporating the rule-driven SNS into the choice-driven SNS through an evolvable interface, and balancing the emotional SNS and the intellectual SNS to achieve stability in a nontrivial autonomous environment with a Stability Algorithm for Neural Entities (SANE). Generating emotions from rules can include coding the rules into the rule-driven SNS in a self-consistent way. Training the emotional rule-driven SNS can occur during a training stage in parallel with training the choice-driven SNS. The training stage can include a self assessment loop which measures performance characteristics of the rule-driven SNS against core genetic code.

Abstract: Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.

Abstract: An apparatus for managing robot components in an intelligent robot includes a robot application including a plurality of robot components, a robot application management tool that manages the operation of the robot application, monitors the status caused by the operations of the robot application and information on the robot components, a lifecycle manager that manages lifecycles of the robot components under the management of the robot application management tool, and an operation system that transfers a sensing signal about peripheral environment generated from the sensor to the robot application, and transfers an execution signal from the robot application to the actuator.

Abstract: Disclosed herein are a robot with a judgment system to enable implementation of multi-dimensional recognitions, thoughts and actions, and a control method thereof. The judgment system includes a dialog system and a task-planning system. The dialog system includes a dialog manager to manage the progress of a dialog of the intelligent robot with a user. The task-planning system includes a leader agent, an action agent and an interaction agent and serve to control a goal, plan and action of a task to be performed by the intelligent robot based on the dialog. The judgment system assists separation of concerns and consequently, enhances convenience of development. The judgment system of the robot contains a mechanism that considers a great number of cases, such as a task priority, immediate user input, inherent robot task, etc., enabling implementation of multi-dimensional recognitions, thoughts and actions.

Abstract: According to the present invention there is provided a Centerless Robotic Platform (CRP) system adapted for mounting on a surface of a body. The surface body extends along a longitudinal axis and having an essentially closed cross-sectional contour. The CRP system comprises at least a first drive unit comprising one or more rolling member, at least one link unit comprising one or more rolling member, and a biasing arrangement. The drive unit and the one or more link units are adapted for attachment to one another. When mounted onto the body, the biasing arrangement is adapted to bias the rolling members to engage the surface of the body.

Abstract: A system comprising a conveyor. A semiconductor processing tool has a lifter port. The tool is positioned near the conveyor, such that the lifter port is configured to transport a Front Opening Unified Pod (FOUP) between the conveyor and the lifter port. An upstream stocker and a downstream stocker are both co-located with the conveyor and the tool. The upstream and downstream stockers each have a respective storage space for the FOUP and a respective robotic device configured to transport the FOUP between its respective storage space and the conveyor. The upstream stocker is configured to receive the FOUP from an overhead transport (OHT) and deliver the FOUP to the conveyor. The downstream stocker is configured to receive the FOUP from the conveyor and deliver the FOUP to the OHT.

Abstract: The present invention relates to a system and method for information process and motor control using artificially constructed apparatus. More specially, the present invention provides a system and method that can process nature language and other informational input including visual, audio and other sensory inputs and respond intelligently.

Abstract: There is provided a travel time display device for an industrial robot which can display travel time on the screen such that time taken for moving a work from any designated starting point to any other point can be seen at a glance. The travel time display device includes: a display for displaying on the screen the location of the industrial robot and an area in which the industrial robot can transport the work; a position designator for designating a travel starting point of the industrial robot at an arbitrary position on the display screen; a calculator for setting a plurality of time intervals with respect to necessary travel time from the travel starting point and calculating a travelable area, to be displayed on the display screen; and a display for depicting the travelable areas with a visual discrimination between the travelable areas.

Abstract: A food handling system having a positioning system and method. The positioning system includes a main conveying surface, an electronic sensor, a controller and a robot. The main conveying surface is configured to move food products. The electronic sensor is configured to capture position data about one or more food products on the main conveying surface within a sensor range of the sensor. The controller is signal-connected to the electronic sensor and the robot. The controller is configured to receive data captured by the sensor and is configured to instruct the robot to move a food product to a destination position. The robot is configured to reposition one or more food products on the conveying surface according to instructions sent by the controller. The robot has a longitudinal and a lateral working range. The food product may include formed meat patties or sliced meat or cheese products.

Abstract: A food handling system having a vacancy reduction system. The vacancy reduction system includes the main conveyor, a food product parking station, a vacancy detector, a robot, and a controller. The vacancy detector is configured to detect a vacant food product position on the main conveyor. The robot has a working range for moving between the parking station and the main conveyor. The controller is signal-connected to the vacancy detector. The controller is configured to receive a signal from the vacancy detector indicating a vacant food product position on the conveyor. The controller is signal-connected to the robot and has control instructions for instructing the robot to move the food product from the food product parking station to the vacant food product position on the main conveyor.

Abstract: An automatic machine system and its communication control method not stopping the robot action even if wireless communication of a wireless portable teaching/operating unit fails. The automatic machine system comprises a mechanism unit having one or more drive mechanisms, a controller for driving/controlling the mechanism unit, and a portable teaching/operating unit for operating/teaching the mechanism unit. The controller (2) has a controller wireless communication section (24) for wireless communication with the portable teaching/operating unit (3) and a drive section (22) for driving the mechanism unit (1) according to a command signal received at the controller wireless communication section (24) from the portable teaching/operating unit (3).

Abstract: A rotary parlour for automatic milking of animals includes an annular rotary platform (2) adapted to form a support surface for the animals (1), driving element (9) for supplying a rotary motion to the platform (2), positioning element for arranging the animals in predetermined milking positions (3) on the platform, in which an longitudinal axis (1a) of the animals forms an angle to the direction of motion (1b) of the animals standing on the rotary platform (2), and a robot arm (13) adapted to attach teat cups (7a) to the teats of an animal (1) which has entered a milking position (3) on the platform (2). The entire robot arm (13) is located in a working position vertically above or on the platform (2) when it attaches the teat cups to the teats of the animals (1).

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.