Embodiments of the invention include methods and structures for controlling developer critical dimension (DCD) variations across a wafer surface. Aspects of the invention include an apparatus having developer tubing and an internal cam. The internal cam is coupled to a fixed axis. A flexible divider is positioned between the developer tubing and the internal cam. The flexible divider is coupled to the internal cam such that rotation of the internal cam about the fixed axis is operable to change an inner diameter of the developer tubing.

Embodiments of the invention include methods and structures for controlling developer critical dimension (DCD) variations across a wafer surface. Aspects of the invention include an apparatus having developer tubing and an internal cam. The internal cam is coupled to a fixed axis. A flexible divider is positioned between the developer tubing and the internal cam. The flexible divider is coupled to the internal cam such that rotation of the internal cam about the fixed axis is operable to change an inner diameter of the developer tubing.

A method for automatically boxing ice cream type products allows, via an apparatus with simple mechanical configuration, a sequence of boxing steps to be performed, keeping constant the number of products boxed from one boxing sequence to another, in consideration of possible variations, from one boxing sequence to another, in the spatial distribution of absences of product on the transport system, operating between the apparatus for production of the products and the boxing unit, with the boxing unit being configured, for each boxing sequence, for picking up the products and transferring them into at least one box. The apparatus is configured to automatically perform the method.

A method for automatically boxing ice cream type products allows, via an apparatus with simple mechanical configuration, a sequence of boxing steps to be performed, keeping constant the number of products boxed from one boxing sequence to another, in consideration of possible variations, from one boxing sequence to another, in the spatial distribution of absences of product on the transport system, operating between the apparatus for production of the products and the boxing unit, with the boxing unit being configured, for each boxing sequence, for picking up the products and transferring them into at least one box. The apparatus is configured to automatically perform the method.

Various approaches to ensuring safe operation of industrial machinery in a workcell include disposing multiple image sensors proximate to the workcell and acquiring, with at least some of the image sensors, the first set of images of the workcell; registering the sensors to each other based at least in part on the first set of images and, based at least in part on the registration, converting the first set of images to a common reference frame of the sensors; determining a transformation matrix for transforming the common reference frame of the sensors to a global frame of the workcell; registering the sensors to the industrial machinery; acquiring the second set of images during operation of the industrial machinery; and monitoring the industrial machinery during operation thereof based at least in part on the acquired second plurality of images, transformation, and registration of the sensors to the industrial machinery.

Various approaches to ensuring safe operation of industrial machinery in a workcell include disposing multiple image sensors proximate to the workcell and acquiring, with at least some of the image sensors, the first set of images of the workcell; registering the sensors to each other based at least in part on the first set of images and, based at least in part on the registration, converting the first set of images to a common reference frame of the sensors; determining a transformation matrix for transforming the common reference frame of the sensors to a global frame of the workcell; registering the sensors to the industrial machinery; acquiring the second set of images during operation of the industrial machinery; and monitoring the industrial machinery during operation thereof based at least in part on the acquired second plurality of images, transformation, and registration of the sensors to the industrial machinery.

The present invention relates to an airplane structure stiffener repair method based on measured data guidance. The method includes: respectively measuring point cloud data on a surface of a structure stiffener and point cloud data on a surface of a to-be-assembled position of a body; respectively extracting all assembly plane features in two point cloud data based on an RANSAC algorithm; performing pre-alignment according to the plane features; performing accurate alignment based on a signed distance constraint according to repair tolerance requirements; and calculating a repair allowance, and generating a machining path to serve as an accurate machining basis. According to the method in the present invention, a repair amount can be accurately calculated by virtue of an alignment algorithm of the signed distance constraint, and an envelope relationship during model matching is met.

The present invention relates to an airplane structure stiffener repair method based on measured data guidance. The method includes: respectively measuring point cloud data on a surface of a structure stiffener and point cloud data on a surface of a to-be-assembled position of a body; respectively extracting all assembly plane features in two point cloud data based on an RANSAC algorithm; performing pre-alignment according to the plane features; performing accurate alignment based on a signed distance constraint according to repair tolerance requirements; and calculating a repair allowance, and generating a machining path to serve as an accurate machining basis. According to the method in the present invention, a repair amount can be accurately calculated by virtue of an alignment algorithm of the signed distance constraint, and an envelope relationship during model matching is met.

A positioning control device, in which motion of a motor in positioning operation of causing a mechanical load connected to the motor to move by a target moving distance is specified by operational conditions and command parameters, includes an adjustment unit performing the positioning operation based on an adjustment condition and a trial parameter, which are an operational condition and a command parameter, and determining one of the command parameters to be an excellent parameter corresponding to the adjustment condition based on an evaluation result based on the state of the motor or the mechanical load during positioning operation performed; and an estimation unit determining one of the command parameters to be an estimated excellent parameter corresponding to a non-adjustment condition, which is one type of the operational conditions, based on an adjustment record being a pair of the adjustment condition and the excellent parameter corresponding to the adjustment condition.

A position sensing tool for enabling topographical measurements of a working surface is provided. The tool includes sensors for mapping the tool environment and for positioning of the tool within the environment. The tool enables tracking of tool activity within the environment. The tool enables design and fabrication collaboration with other computer systems. The tool enables user and tool environment safety using tool positional, user position and tool environment awareness. Certain embodiments of the tool permit automated guidance of tasks in the tool environment.