A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

The present invention relates to methods, devices and systems for associating consumable data with an assay consumable used in a biological assay. Provided are assay systems and associated consumables, wherein the assay system adjusts one or more steps of an assay protocol based on consumable data specific for that consumable. Various types of consumable data are described, as well as methods of using such data in the conduct of an assay by an assay system. The present invention also relates to consumables (e.g., kits and reagent containers), software, data deployable bundles, computer-readable media, loading carts, instruments, systems, and methods, for performing automated biological assays.

The present disclosure relates to a Web server (104, 60, 70) and a method therein of determining a trajectory for controlling of a robot device over a cloud interface. From a URI-encoded HTTP request (402) for the trajectory between a first pose and a second pose of the robot device, it is determined (S112, 408) the length of matching between cached trajectories and the trajectory requested. The longest length of matching is compared (S114, 410) to a minimal matching length (406), and if the longest length is longer than the minimal matching length, a HTTP response is sent (S122, 412) comprising the trajectory being determined. If the longest length is shorter than the minimal matching length, a HTTP request to calculate is sent (S116, 414). Currently available web service architecture can be reused, and easily up-scaled.

A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.

Devices, systems, and methods for determining whether a container is empty in the context of robotic picking solutions. The system includes a plurality of sensors configured to gather container data regarding a container at a first location, wherein the container data includes at least two of weight data related to the container, depth data related to the container, and color sensor data related to the container, and a processor configured to execute instructions stored on a memory to provide a sensor fusion module configured to process the received container data to determine whether the container is empty.

A method of controlling a robot arm with robot joints, where the joint motors of the joints are controlled based on a signal generated based on the friction torque (formula I) of at least one of the input/outside of the robot joint transmission and the robot joint transmission torque (formula II) between the input side and the output side of the transmission. The friction torque is determined based on: at least two of the angular position of the motor axle; the angular position of the output axle and/or the motor torque provided to the motor axle by the joint motor. The robot joint transmission torque is determined based on: at least one of the angular position of the output axle; the angular position of the output axle and/or the angular position of the motor axle; the angular position of the motor axle and the motor torque provided to the motor axle by the joint motor.

A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

The present invention relates to methods, devices and systems for associating consumable data with an assay consumable used in a biological assay. Provided are assay systems and associated consumables, wherein the assay system adjusts one or more steps of an assay protocol based on consumable data specific for that consumable. Various types of consumable data are described, as well as methods of using such data in the conduct of an assay by an assay system. The present invention also relates to consumables (e.g., kits and reagent containers), software, data deployable bundles, computer-readable media, loading carts, instruments, systems, and methods, for performing automated biological assays.

An automated store includes a modular shelving structure and an autonomous robotic apparatus that operates to transfer items to and from the shelving structure.

A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.