A surgical instrument comprising a sensing system is disclosed.

A position sensor of the present invention includes: a magnet that moves together with a moving body; a magnetic sensor that detects a magnetic flux generated by the magnet; and a detector that detects an anomaly of the magnetic sensor based on a detection value detected by the magnetic sensor. The magnetic sensor is set so as to detect the detection value taking a value on a locus preset in accordance with a position of the moving body, and the locus is set so that a change rate of the detection value corresponding to change of the position of the moving body differs for each of a plurality of sections set within a movement range of the moving body. The detector detects the anomaly of the magnetic sensor based on a relation between the detection value and a comparison value that is a value corresponding to the locus.

A wireless charging method includes: acquiring identification information of a charging device, wherein the identification information is configured to indicate a position state between the mobile terminal and the charging device; when the identification information meets a preset charging condition, controlling an electromagnet body in the mobile terminal to be powered on to attract the charging device; and when the identification information does not meet the preset charging condition, controlling the electromagnet body in the mobile terminal to be powered off. The mobile terminal powers on the electromagnet body when charging, to make it be in a magnetic state; and after the charging is completed, powers off it to make it be in a non-magnetic state.

A position sensor of the present invention includes: a magnet that moves together with a moving body; a magnetic sensor that detects a magnetic flux generated by the magnet; and a detector that detects an anomaly of the magnetic sensor based on a detection value detected by the magnetic sensor. The magnetic sensor is set so as to detect the detection value taking a value on a locus preset in accordance with a position of the moving body, and the locus is set so that a change rate of the detection value corresponding to change of the position of the moving body differs for each of a plurality of sections set within a movement range of the moving body. The detector detects the anomaly of the magnetic sensor based on a relation between the detection value and a comparison value that is a value corresponding to the locus.

A surgical instrument comprising a sensing system is disclosed.

An speed detection apparatus of a rotational shaft in a robot arm that is applied to a drive mechanism is provided. The speed detection apparatus includes: first and second rotation sensors that are disposed on a side of a rotational shaft of the robot arm and outputs first and second rotational position signals with a phase difference of 90 degrees; first and second differentiators that differentiate the first and second rotational position signals; and a speed calculator that obtains a rotational speed of the robot arm by calculating a sum of squares of a first differential signal and a second differential signal.

It A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A controller (108) is in communication with a sensor (107) and is configured to receive detected object parameters, and determine a throw trajectory (109) of the gripped waste object (104) towards a target position (106) based on the detected object parameters of the gripped waste object (104). The controller (108) is configured to send control instructions to the gripper (103) and/or manipulator (101) so that the gripper (103) and/or manipulator (101) accelerates the gripped waste object (104) and releases the waste object (104) at a throw position with a throw velocity and throw angle towards the target position (106) so that the waste object (104) is thrown along the determined throw trajectory (109). A related method of controlling a waste robot is also disclosed.

An speed detection apparatus of a rotational shaft in a robot arm that is applied to a drive mechanism is provided. The speed detection apparatus includes: first and second rotation sensors that are disposed on a side of a rotational shaft of the robot arm and outputs first and second rotational position signals with a phase difference of 90 degrees; first and second differentiators that differentiate the first and second rotational position signals; and a speed calculator that obtains a rotational speed of the robot arm by calculating a sum of squares of a first differential signal and a second differential signal.

Apparatus for the homing and subsequent positioning of the axes of a numerical control machine. The apparatus includes motion actuators operatively connected to a motor for moving a machine worktable of the apparatus, a control unit, an input/output unit operatively connected to the control unit for the definition of at least one working axis, at least one switching sensor, either of inductive or capacitive type, and at least one switching bar for the definition of at least one switching point identified on the at least one worktable using the at least one switching sensor. The switching sensors and switching points are fixed or mobile, and the at least one switching bar includes a detection area for the at least one switching sensor, the area being shared into a first detection section, a second detection section, and a plurality of protection and fastening areas. The apparatus also includes a sensor housing for the insertion, protection and sliding of one or more switching sensors.

A parallel kinematic manipulator system having three degrees of freedom and a method of controlling and visualizing work objects using force feedback and oscillation algorithms is provided. Three co-planar linear actuators operate symmetrically and parallel to an effector arm and are pivotally connected by three magnetic disc swivel joints to a base plate. The disc swivel joints each include a convex upper and lower swivel member having two dimensional gear patterns structured into their contacting and non-sliding surfaces. A pulsed illumination source consists of an annular LED array and is synchronized to the oscillation frequencies of the system to provide visual filtering capabilities. A control unit includes a method for keeping a work object balanced by force feedback and without the need for angle sensors at the end-effector, as well as methods for rotation of work objects and control of the pulsed illumination source. Sound trap ridges are included as part of the housing to reduce system noise.