A substrate processing apparatus includes a process station for processing a substrate; a cassette station integrated with the process station; a substrate carriage equipped for transferring the substrate between said process station and the cassette station through a passage located at an interface between the process station and said cassette station; and a substrate scanner equipped at said interface between the process station and the cassette station for capturing surface image data during transportation of the substrate that passes through the passage.

A fairing skin repair method based on measured wing data includes fairing skin registration. Data set P1 through denoising and filtering wing point cloud data is reorganized to obtain a key point set P. A histogram feature descriptor in a normal direction of any key point in set P and a skin point cloud data Q is calculated. Euclidean distance between feature descriptors of two points is calculated through K-nearest neighbor algorithm, and points with high similarity are added into a set M. A clustering is performed on set M using a Hough voting algorithm to obtain a local point cloud set P′ in set P. The method includes fairing skin repair. The boundary line of the point frame is projected onto Q, and a distance between a projection line on the point cloud and the boundary line is calculated to obtain an amount of skin to be repaired.

A system includes a first sensor having a fixed location relative to a workspace, a second sensor, at least one robotic manipulator coupled to a manipulation tool, and a control system in communication with the at least one robotic manipulator. The control system is configured to determine a location of a workpiece in the workspace based on first sensor data from the first sensor and a three-dimensional (3D) model corresponding to the workpiece. The control system is configured to map a set of 2D coordinates from a second 2D image from the second sensor to a set of 3D coordinates based on the location, and to generate one or more control signals for the at least one robotic manipulator based on the set of 3D coordinates.

A batch production system comprising a machine tool for consecutively machining a batch of workpieces into machined pieces, the machine tool comprising a workpiece support configured for supporting the workpieces, a cutting tool, a movement system configured for providing a relative movement between the cutting tool and the workpiece support with at least two degrees of freedom, a control unit configured for controlling the movement system based on numerical control data and compensation data for compensating volumetric positioning errors of the movement system. The numerical control data are based on nominal geometry data representing a target piece that is desired to be achieved when machining the batch of workpieces into the machined pieces.

A position detector includes a detection unit configured to detect light from a first diffraction grating including a first pattern disposed in a first direction, and light from a second diffraction grating including a second pattern disposed in the first direction, and a control unit configured to obtain a relative position between the first and the second diffraction gratings based on the light detected by the detection unit. The position detector has a third pattern formed in a second direction different from the first direction at edges of the first pattern of the first diffraction grating, the third pattern has a width smaller than a width of the first pattern of the first diffraction grating.

A system (100) for cutting work product (104) into portions (P) and unloading the portions includes a conveyance system (102) for carrying the workpieces and portions, as well as a scanner (110) for scanning the work products. A cutter system (120) composed of cutter assemblies (122) carried by carrier systems (124) may be arranged in an array or series along the conveyance system for cutting, trimming, and portioning the work products (104) into end pieces (P) of desired sizes or other physical parameters. An unloading system (130) composed of one or more unloading assemblies/units/apparatus (132) are carried by the same carrier systems (124) used to carry the cutter assemblies (122) to pick up the portioned pieces (P) and either move them to a different location or replace the portioned workpieces back onto the conveyance system after the trim of the workpiece has been removed.

A control system includes a controller that controls machining of a workpiece, and a photographing device that photographs an image of the workpiece under machining operation. The controller generates a three-dimensional model of the workpiece under machining operation based on the acquired image, compares the generated three-dimensional model and a three-dimensional model generated by a machining simulation with each other, and determines a presence or absence of a machining defect based on a result of the comparison. When the machining defect is present and re-machining is possible, a setting is modified depending on a cause of the machining defect and additional machining is executed based on the modified setting.

A position detection apparatus that illuminates light from a light source unit onto an object and that receives reflected light from the object on a light receiver to detect position information of the object, includes a detector (10) and a signal processor (102), the detector includes a first grating (15) in an optical path between the light source unit and the object, a second grating (16) in an optical path between the object and the light receiver, and a third grating (17) in an optical path between the second grating and the light receiver, the signal processor acquires the position information of the object based on a phase variation of the second periodic image detected by the light receiver, and the position information of the object is information related to a distance from the detector to the object.

Systems and methods provide for the determination and correction of tooling deviation by comparing two different three-dimensional surface scans of a composite panel after curing. Such methods and systems may allow for less accurate post-cure fixturing (e.g., holding the panel in a less constrained state, as compared to prior art techniques), while still maintaining a sufficient amount of precision for predictive shimming and shimless techniques. Methods include performing a first three-dimensional surface scan, performing a second three-dimensional surface scan, and comparing the two to determine a deformation function corresponding to tooling deviation. In some systems, a header structure is used to hold the composite panel in a nominal configuration for the second three-dimensional surface scan. In some systems, scanning devices perform mirrored scanning on either side of the composite panel, using a common reference frame.

To generate link information containing association between machining information and/or machine information in a machining program, and an optical feature in a workpiece image. A link information generation device 1 comprises: a machining information acquisition unit 111 that acquires machining information in a machining program for a machine tool that executes machining on a workpiece W; a machine information acquisition unit 112 that acquires machine information about the machining state of the machine tool; a workpiece image acquisition unit 13 that acquires image information about the workpiece W; an optical feature setting unit 14 that sets an image area having an optical feature in the image information about the workpiece W; and a link information generation unit 15 that generates link information containing association between the image area having the optical feature, and the machining information and/or the machine information about a workpiece area associated with the image area.