A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.

A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.

This invention involves a balance scale with a base, a balance arm support, a balance arm, a pointer, and a movable label plate containing descriptions. The balance arm has a tray on each end, where one tray holds an article representing mankind with sin, and the other tray holds an article representing the redemptive work of Jesus Christ. The articles on each tray are of equal or approximately equal weight. The scale rotates when the weight of the articles are added to or removed from the trays, and the scale rotation will determine which description the pointer will point to. This invention can be used as a Christian teaching aid showing the benefit of choosing to accept the death of Christ as payment in full for our sins, along with showing the consequence of our refusal to accept the death of Christ as payment for our sins.