A system comprises a database; at least one hardware processor coupled with the database; and one or more software modules that, when executed by the at least one hardware processor, receive at least one of sensory data from a robot and images from a camera, identify and build models of objects in an environment, wherein the model encompasses immutable properties of identified objects including mass and geometry, and wherein the geometry is assumed not to change, estimate the state including position, orientation, and velocity, of the identified objects, determine based on the state and model, potential configurations, or pre-grasp poses, for grasping the identified objects and return multiple grasping configurations per identified object, determine an object to be picked based on a quality metric, translate the pre-grasp poses into behaviors that define motor forces and torques, communicate the motor forces and torques to the robot in order to allow the robot to perform a complex behavior generated from the behaviors.

There is provided a movement mechanism including a Z spindle the posture of which is hardly changed when the Z spindle is moved upward and downward, and having less measurement errors due to hysteresis. A movement mechanism includes a Z-axis movement mechanism and an X-axis movement mechanism that moves the Z-axis movement mechanism in the horizontal direction. The Z-axis movement mechanism includes a Z spindle having a length in the vertical direction and a Z-axis drive unit that moves the Z spindle in the vertical direction. The Z-axis drive unit includes an open belt having an upper end fixed near an upper end portion of the Z spindle, and a lower end fixed to near a lower end portion of the Z spindle, a drive pulley around which the open belt wounded and that feeds and drives the open belt upward and downward, an upper tension roller that pushes the open belt against the Z spindle, and a lower tension roller that pushes the open belt against the Z spindle. A frame part of the X-axis movement mechanism supports the Z-axis drive unit at a position facing an X-axis guiding part by interposing the Z spindle.

A system, device and method for nail care is provided. The nail care system includes a shaping system, a polish removal system and/or a cuticle management system; a vision system; a nail polish application system; and a mobility system. The nail system may further include an accelerated drying system, a hand massage system, a nail identification/diagnosis/estimation of conditions system, an enclosure, a hand/foot rest system, a computer software system, a computer hardware system, a cartridge/pod system, and a multi-tool system. Related apparatuses, techniques and articles are also described.

A micro device transfer apparatus and a micro device transfer method are provided. The micro device transfer apparatus comprises a stage unit including a stage where a target substrate is to be disposed, a plurality of transfer head units disposed above the stage, and a transfer head unit moving part configured to move the plurality of transfer head units, wherein, the transfer head unit comprises a carrier substrate fastening part configured to fasten a carrier substrate where a plurality of micro devices are disposed, a mask unit disposed above the carrier substrate fastening part, the mask unit comprising a mask including an opening part and a shielding part, a light emitting part disposed on the mask unit, and a housing formed around the carrier substrate fastening part, the mask unit, and the light emitting part.

A two-phase liquid immersion cooling system is described in which heat generating computer components cause a dielectric fluid in its liquid phase to vaporize. Advantageously an absorption/desorption unit is employed having a carbon element and a controller configured to regulate the absorption unit.

An automatic or semi-automatic preparation system process is provided for forming a medicament solution from a vial containing one of a liquid and a non-liquid material.

A system enables management of dispensable units by supporting functions such as retrieval, scheduled distribution, analysis, and notifications. To this end, a dispensable retrieval mechanism may be programmed to carry out blind retrievals of dispensable units using a retrieval strategy with a predetermined sequence of retrieval attempts (e.g., fixed or varying two-dimensional retrieval patterns), which may be open loop or closed loop. Techniques may also include the identification of dispensable units through optical sensors and weight measurement devices that can detect, e.g., a texture, a shape, and a size of dispensable units. Such identification can be used to program retrieval attempts by a retrieval robot and in the formulation of the retrieval pattern. Additionally, networked notification systems for dispensable units can be used for updating rules or schedules related to the dispensable units, or alerting users and remote resources of any potential misuse or hazards of the dispensable units.

A system enables management of dispensable units by supporting functions such as retrieval, scheduled distribution, analysis, and notifications. To this end, a dispensable retrieval mechanism may be programmed to carry out blind retrievals of dispensable units using a retrieval strategy with a predetermined sequence of retrieval attempts (e.g., fixed or varying two-dimensional retrieval patterns), which may be open loop or closed loop. Techniques may also include the identification of dispensable units through optical sensors and weight measurement devices that can detect, e.g., a texture, a shape, and a size of dispensable units. Such identification can be used to program retrieval attempts by a retrieval robot and in the formulation of the retrieval pattern. Additionally, networked notification systems for dispensable units can be used for updating rules or schedules related to the dispensable units, or alerting users and remote resources of any potential misuse or hazards of the dispensable units.

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved.

A method and a cutting system for sheets includes a cutting center, a sorting apparatus with handlers for gripping pieces cut by the cutting center, and a transfer board, movable between the handler area and the inside of the cutting center, supporting the sheets. The cutting center includes a cutting head movably mounted above the transfer board with a distance detection sensor, detecting distance data with respect to a sheet on the transfer board. The cutting center and sorting apparatus have respective first and second control logics. A data interface unit lies between the first and second control logic, by which distance data from the distance detection sensor, are transferred. The second control logic has a processor defining, periodically during operation cycles, an altitude map based on the distance data detected in a number of positions, and controlling a gripping step of the handlers based on the altitude map.