An allograft optimization system utilizes an optical system to determine the outer perimeter of a tissue blank for allograft cutting therefrom. The optical system determines an optimal allograft array pattern that can be derived from the irregular tissue blank and may include a plurality of various allograft shapes and sizes. A computer operates an allograft optimization computer program that receives input regarding the outer perimeter of the tissue blank. A cutting implement, such as a laser, is configured to cut the allografts from the irregularly shaped tissue blank according the allograft array pattern. The cutting implement is automatically actuated by an actuator with respect to the tissue blank to cut the allografts therefrom. The cutting implement may be a laser or a galvo laser that is directed by one or more mirrors. The tissue may be birth tissue including placental tissue and amnion.

The machining station can include a table; at least three robots each having a multi-axis mover secured to the table, and a gripper opposite the table, the robots being interspaced from one another on the table; and a controller. The controller controls the robots to hold a workpiece in a coordinated manner. The computer numerical command (CNC) machine-tool system machines the workpiece while the workpiece is held by the robots. The workpiece can be moved into and out from the machining station with a trolley which slidingly engages a trolley path formed within the table.

A machine tool is disclosed which continues monitoring even when there is an obstacle such as swarf or a cutting fluid between a machining portion to be monitored and a visual sensor. A visual sensor is attached to an in-machine robot which is movable in a machine tool. A controller operates the visual sensor while judging influences of the swarf and the cutting fluid, automatically judges an orientation experiencing less influence, and executes monitoring from an optimum direction.

A manufacturing system includes: a coordinate positioning machine having a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume, and a positioning arrangement for determining the position of the structure within the working volume with a first accuracy; and a metrology arrangement to which the machine is removably couplable, such that when the machine is coupled to the metrology arrangement, with the structure being moved by the drive arrangement, the metrology arrangement is able to measure the position of the structure with a second accuracy that is higher than the first accuracy.

A system for automatically generating trajectories of an object includes a trajectory generation module comprising a visual control algorithm and a processor configured via computer executable instructions to receive raw three dimensional (3-D) sensor data of an object, create a 3-D model of the object based on the raw 3-D sensor data, extract object features relating to a shape and/or surface from the 3-D model of the object, and generate trajectories based on the object features of the 3-D model of the object.

Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Method and apparatus for automated operations, such as pruning, harvesting, spraying and/or maintenance, on plants, and particularly plants with foliage having features on many length scales or a wide spectrum of length scales, such as female flower buds of the marijuana plant. The invention utilizes a convolutional neural network for image segmentation classification and/or the determination of features. The foliage is imaged stereoscopically to produce a three-dimensional surface image, a first neural network determines regions to be operated on, and a second neural network determines how an operation tool operates on the foliage. For pruning of resinous foliage the cutting tool is heated or cooled to avoid having the resins make the cutting tool inoperable.

An underwater line cutting tool includes a cutter. The cutter includes a blade holder and a rotating manipulator arm. The blade holder includes two stationary arms in a V-shaped configuration including at least one blade attached to one of two stationary arms. The blade holder is attached to the rotating manipulator arm of a rotating manipulator that is attached to an underwater remotely operated vehicle.

Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

A robot system capable of separating an adhesive member from a cover material and sticking the adhesive member on an object without a complicated setting. A robot system including a sticking mechanism configured to clamp and stick an adhesive member on an object and a supply mechanism capable of supplying the adhesive member, wherein the sticking mechanism includes a robot hand configured to clamp and release the adhesive member and a robot arm configured to move the robot hand; and the supply mechanism is separate from the sticking mechanism, supplies the adhesive member in a state that the adhesive member is stuck to a cover material, and separates the cover material from the adhesive member.