A high temperature industrial furnace roof system having first and second spaced apart hanger brick rows with a filler row disposed therebetween and a cable system including a plurality of electrical cables. The filler row includes a plurality of filler elements having at least one removable heating module with a heat source. The cable system operatively connects the heat source with a power source and permits the removable heating module to be removed from the respective filler element while the respective heat source remains operatively connected with the power source.

A sensor system for monitoring and controlling the performance of the bottom electrode and the deflection of an electric arc in an electric steel making furnace includes an organized matrix of anode pins interspersed with refractory material and extending toward an electrically conductive plate secured to distal ends of the anode pins. A sensing device includes two temperature sensors at spaced apart locations along each of a distributed select group of anode pins for providing corresponding electrical signals and a current sensor responsive to electrical current flowing through the anode pins of the distributed select group of anode pins for providing a corresponding electrical signal. A controller responsive to the electrical signals derived at the anode pins of the select group operates the power supply and a display for monitoring the electrical performance of the elongated anode pins for heating by the electric arc in the furnace.

An apparatus for dehydrating a liquid sample of biological material has a microwave waveguide that is open to the atmosphere. It has a microwave generator, means for introducing a container of the material into the waveguide, means for evacuating the container, means for rotating the container and means for removing the container from the waveguide. It can include means for moving the container through the waveguide and for sealing it. In a dehydration method, a container of the liquid sample is put into the open waveguide, evacuated, rotated at high speed and microwaved. The container of dehydrated material is then removed from the waveguide. The apparatus and method are particularly suitable for dehydrating vaccines.

An induction melting furnace having an asymmetrical sloping bottom. The melting furnace includes: an induction coil member provided on the melting furnace so as to melt waste contained in the furnace by vitrification; a bottom unit provided in a lower part of the melting furnace, the bottom unit asymmetrically sloping downward in a direction toward a glass discharge port that is formed through the bottom unit; and a cooling member integrated with the bottom unit. Due to the asymmetrical sloping bottom of the furnace, waste in the furnace can be completely melted and can be easily discharged to the outside and, accordingly, the time and cost required to treat the waste are reduced and this improves work efficiency when treating the waste. Further, due to the insulation material, the melting furnace can be protected from electric damage that may be caused by electric arc.

Apparatus and method are provided for electric induction heating and/or stirring of a molten electrically conductive composition in a containment vessel with the apparatus being removably insertable in the molten composition. An induction coil embedded in refractory or a coating is submerged in the composition and used to heat and/or stir the molten composition either externally or internally to the refractory or coating.

A roof system for an electric arc furnace includes a skew removably attached to the electric arc furnace, a lining of refractory material affixed to the skew, and a delta composed of a refractory material. The delta has at least one aperture capable of receiving an electrode. The delta fits onto and is supported by the refractory lining that is affixed to the skew.

A resonant power supply (900) for use with high inductive loads includes an input rectifier (903) and a switching inverter formed using a plurality of parallel connected half bridge networks for switching the voltage provided from the input rectifier (903). A transformer (927) is used whose primary is connected to the switching inverter and whose secondary is connected to load such as a crucible (931). A capacitor (929) is used in series with the primary of the transformer (927) for resonating the inductance in the secondary circuit at the frequency of the switching inverter to provide maximum power transfer to the crucible (931).

A movable device for injecting oxygen and other technical materials into an electric arc furnace includes a housing situated above a portion of a step of a crucible and equipped with a cooling coil, an injection lance of oxygen and other technical materials, a supporting and moving system of the lance between minimum and maximum range points of the liquid bath level contained therein, positioned in the housing, an opening situated in the housing and facing the inside of the crucible in which the lance is transferably guided, and a scraping member disposed between the opening and the lance.

An integrated process control installation is provided for electric induction metal melting furnaces with variable furnace states. The integrated process control installation can include supporting charge delivery and slag removal installations, and furnace process operations for process control of melting metal in the furnaces. The variable furnace states, supporting installations, and furnace process operations are controlled by a supporting processing installation, while a robotic apparatus performs the furnace process operations.

A power supply arrangement for supplying a square-wave current (I2) to a load connected to an output of the power supply arrangement, in particular a power supply arrangement in an arc furnace for generating an arc, including a transformer (TU) with at least two primary-site taps (1U1, 1U2) which form an input of the power supply arrangement, and with several secondary-side taps (2U1, 2U2, 2U3, 2UN), a bridge circuit (BU) with several first half bridges (11, 12, 13) which include converter valves (V11, V12, V13, V14, V15, V16) and which each have a first terminal (A11, A12, A13) of the bridge circuit, with a bridge section with a choke (L1), and with a second half bridge (20) which has converter valves (V17, V18) and a second terminal (A20) of the bridge circuit (BU), wherein each first terminal (A11, A12, A13) is connected to one of the secondary-side taps (2U1, 2U2, 2U3) of the transformer (TU), wherein the second terminal (A20) is connected to the output.

The present invention relates to an electric channel inductor assembly and method of forming an electric channel inductor assembly. A nonremovable, hollow, nonmagnetic channel mold is used to form the one or more flow channels of the assembly. A heated fluid medium is circulated in the hollow interior of the mold after the mold is situated in the assembly to heat treat the refractory surrounding the exterior walls of the mold. After heat treatment a liquid is supplied to the hollow interior of the mold to chemically dissolve the mold.

The present invention relates generally to a ladle metallurgy furnace having an improved roof structure. The improved roof may comprise an internal surface structure having a substantially smooth exterior surface, an external surface structure spaced apart from the internal surface structure, a plurality of channels that are defined intermediate the internal and external surface structures, a supply port in fluid communication with at least one channel through the second surface structure and in further fluid communication with a supply line, and a return port in fluid communication with at least one channel through the external surface structure and in further fluid communication with a return line.

A combustion tube mounting system releasably mounts a combustion tube to an aperture in the floor of a furnace housing. The combustion tube has a base assembly with a cam and can be manually or automatically unlocked by cam pins in the floor for selectively engaging the cam for lowering the combustion tube from the floor of the furnace. When a new combustion tube is placed on the lower seal assembly and raised, it automatically aligns and engages the upper furnace seal and engages cams on the floor of the furnace housing which lock the combustion tube in place as it is introduced into the furnace.

Apparatus and process for heating and melting a material in a susceptor vessel are provided wherein phase synchronized ac voltage is supplied from a separate power source to each one of at least two induction coils in separate zones around the vessel. Power magnitude from each source to an induction coil is controlled by pulse width control of the source's output voltage. Output frequency from each source is either fixed or variable based upon the electrically conductive state of the material. Optional electromagnetic stirring is achieved by establishing a phase shift between the voltage outputs of the power supplies after the material in the susceptor vessel has melted.

An electric glass hot shop system is described herein that has at least one electrically powered heating unit (e.g., electric furnace, electric glory hole, electric pipe warmer, electric color box, electric annealer, electric crucible kiln) used in the processing of glass.

A heating electrode assembly for a crystal growth furnace includes: a heat insulation board unit that is disposed between a furnace wall and a heater, that includes a first surface facing the furnace wall and a second surface facing the heater, and that is formed with a hole extending through the first surface and the second surface; an electrode unit that includes an electricity input portion mounted to the furnace wall, a post portion disposed in the hole, and an abutment flange connecting the post portion and the heater; and an electrical insulating unit including a tubular sleeve that is disposed in the hole and that surrounds the post portion, and a pad that is clamped between the abutment flange and the second surface.

A furnace for dehydrating and sintering a porous glass preform includes a core tube that passes through a center portion of a furnace body to accommodate therein the porous glass preform, a heater that is arranged around the core tube in the furnace body to heat the porous glass preform in the core tube, and a core tube weight dividing and bearing means that is arranged at an outer periphery of the core tube to divide and bear the weight of the core tube in its longitudinal direction. The core tube weight dividing and bearing means includes a plurality of collars that is protruded at a predetermined interval in the longitudinal direction at the outer periphery of the core tube, a first weight receiving means that supports the collars at the outer periphery of the core tube, and a second weight receiving means that bears the weight of the first weight receiving means.

An electromagnetic induction melting furnace to control an average nominal diameter of the TiB2 cluster of the Al—Ti—B alloy includes a main body containing the melted alloy; and a multi-layer coil disposed on the main body, wherein a frequency of the alternative current of each coil of the multi-layer coil is different, and the alloy is heated by inducing a magnetic field generated by the alternative currents. The selection of the frequency and the changeable magnetic field may reduce the cohesion force between the TiB2 grains of the Al—Ti—B alloy to control the average nominal diameter of the TiB2 cluster.

An electromagnetic induction melting furnace to control an average nominal diameter of the TiC cluster of the Al—Ti—C alloy includes a main body containing the melted alloy; and a multi-layer coil disposed on the main body, wherein a frequency of the alternative current of each coil of the multi-layer coil is different, and the alloy is heated by inducing a magnetic field generated by the alternative currents. The selection of the frequency and the changeable magnetic field may reduce the cohesion force between the TiC grains of the Al—Ti—C alloy to control the average nominal diameter of the TiC cluster.

In one aspect, the invention is directed to a decoupler assembly for between an endless drive element and a shaft. The endless drive element may be, for example, an accessory drive belt from a vehicular engine. The shaft may be, for example, the input shaft of a belt-driven accessory, such as an alternator or a compressor. The decoupler assembly includes a hub that mounts to the shaft, a pulley that is rotatable with respect to the hub, a dampening spring and a clutch member. A part of the pulley is supported on a pulley support surface on the hub. There is a gap between the pulley and the pulley support surface. The gap has lubricant therein to facilitate sliding between the pulley and the pulley support surface. By eliminating the use of a polymeric bushing between pulley and the hub, there are several advantages that are provided.

In a steering system that includes: an intermediate shaft on a steering wheel side; a pinion shaft on a steered wheel side; and a cross joint by which the intermediate shaft and the pinion shaft are rotatably connected to each other on a plane intersecting with each of the shafts, and that steers steered wheels by transmitting steering torque of a steering wheel from the intermediate shaft to the pinion shaft, a weakened portion is formed in a joint spider of the cross joint. The weakened portion can be identified in advance as a portion that breaks first. This makes it possible to realize a failure mode in which a vehicle is able to run by itself for a certain period of time after a failure.

A starting device of a spark-ignition multi-cylinder engine is provided. The device includes a multi-cylinder engine body having cylinders, fuel injection valves, ignition plugs, an intake valve drive mechanism for opening and closing intake valves, a hydraulic variable valve phase mechanism for changing a close timing of each intake valve, an engine-driven hydraulic pressure supply source for supplying a hydraulic pressure, and a start controller for controlling the fuel injection valves, the ignition plugs, and the variable valve phase mechanism. When the supplied hydraulic pressure is below a predetermined pressure, the variable valve phase mechanism locks the close timing. When an engine temperature in an engine-start is high, the start controller retards a fuel injection timing of the cylinder on intake stroke at an engine stopped timing and retards an ignition timing thereof. The start controller does not retard the close timing of the intake valve until the engine-start completes.

An input shaft assembly is movable along an axis to absorb external impact loads. A biasing member exerts an axial load in a direction counter to potential impact loads. A stop is provided to control the application of biasing loads to control application of such axial load.

A torque limiting device, particularly for power transmission elements, is provided. The torque limiting device includes a first connecting member and a second connecting member, which is connected rotatably to a driven element. The first connecting member includes a motor driving disk and the second connecting member includes a sliding disk, and further includes a pin supporting body which comprises a drum that is assembled on the second connecting member and includes a plurality of radial holes, each one of which accommodates a pin that is pressed, toward the center of the drum, by elastic means, and abuts, with at least one of its faces which is inclined with respect to the central rotation axis of the second connecting member, against at least one corresponding abutment face.

A constant velocity joint including an outer race having inner and outer surfaces, the inner surface including a plurality of outer bail tracks. The constant velocity joint also includes an inner race having a plurality of inner ball tracks which correspond to the outer ball tracks, a ball cage disposed between the outer race and the inner race, a plurality of balls arranged within the ball cage and contacting the outer ball tracks and the inner ball tracks. A damping assembly is connected to the outer race.

A fixed type constant velocity universal joint has pairs of track grooves, each pair forming a wedge angle (α). The wedge angle (α) includes a wedge angle (α0) formed, when an operating angle is 0°, with respect to each of torque transmitting balls arranged in a joint center plane, and opening to the same side in an axial direction for all pairs of track grooves. Further, the pairs of track grooves are mirror-image symmetrical with each other when the operating angle is 0°.

A rotational vibration damper includes a primary side (32) and a secondary side (46) which is rotatable with respect to the primary side (32) around an axis of rotation (A) against the action of a damper element arrangement (28). At least one damper element unit (42) of the first group (70) and at least one damper element unit (42') of the second group (70') are pre-loaded, and the primary side (32) and the secondary side (46) are pre-loaded in a basic relative rotation position with respect to one another. Proceeding from the basic relative rotation position of the primary side (32) with respect to the secondary side (46), a pre-loading path (V, V') of at least one pre-loaded damper element unit (42) is shorter than a maximum relative rotation path of the primary side (32) with respect to the secondary side (46).

A rotation transmitting apparatus includes a first shaft on which multiple external teeth are formed so as to be arranged in a circumferential direction, and a second shaft in which multiple internal teeth are formed so as to be arranged in the circumferential direction, the second shaft being fitted to the first shaft so as to be slidable relative to the first shaft in the axial direction and so as to be engageable with the first shaft in a rotational direction through the use of the external teeth and the internal teeth. A protrusion is formed on the tooth flank of one of the external tooth and the internal tooth, the protrusion being projected toward the corresponding tooth flank of the other of the external tooth and the internal tooth. The protrusion is made of a resin that is more elastically deformable than the tooth flank.

An aluminum alloy propeller shaft including a tube made of an aluminum alloy, and a pair of yoke members made of an aluminum alloy, the yoke members including cylindrical base portions friction-welded to opposite end portions of the tube, each of the yoke members including a tip end portion having a pair of bearing retaining holes aligned with each other in a radial direction of the base portion. Variation in length between a central axis of the bearing retaining holes in one of the yoke members and a central axis of the bearing retaining holes in the other yoke member with respect to a reference length is set within a range of from +2.0 mm to −2.0 mm. A friction welding process of producing an aluminum alloy propeller shaft, including a friction step, a position displacement detection step, a rotation stop step and an upset step.

A driveline shield system having a cap disposed to releasably engage a bearing mounted adjacent a drive shaft. The cap supports a tubular guard or shield in a coaxial position relative to the drive shaft. One or more lugs on the bearing are disposed to seat in corresponding slots formed in the cap. When the lugs are seated in the slots, rotation of the cap relative to the bearing causes the bearing and the cap to engage one another. A U-shaped clip is pivotally mounted to the cap and rotatable between a first position in which the clip extends into the slot and secures the lugs in engagement with the cap and a second release position in which the clip is retracted from the slot, thereby permitting relative rotation between the cap and bearing.

In a scroll compressor of the present invention, a fixed scroll 11 and an orbiting scroll 12 are meshed with each other such that spiral laps of the fixed scroll 11 and the orbiting scroll 12 inwardly face each other, an Oldham ring 26 is provided between the main bearing member 19 and the orbiting scroll 12, and a key portion of the Oldham ring 26 is inserted into a key groove 19a of the main bearing member 19. Grooves 19b are formed in Oldham ring 26 sliding surfaces on both sides of the key groove 19a. According to this configuration, the Oldham ring 26 and the main bearing member 19 can be restrained from coming into contact with each other in the vicinity of the bearing key groove 19a, and restrained from vibrating, and it is possible to provide an inexpensive scroll compressor of low noise.

A device for generating limit torque with a function of yielding a torque change in real time includes a spring, a rotating portion having a cam surface formed therein, a transmitting portion transmitting an elastic force of the spring to the cam surface, a fixed portion with respect to which the relative rotation of the rotating portion is generated, and a limit-torque control portion provided to the fixed portion so as to control limit torque of the rotating portion by adjusting the elastic force of the spring. In the device, the limit-torque control portion controls the limit torque of the spring by changing the elastic force of the spring in real time.

A propshaft assembly includes an axle flange, a propshaft, and a damper. The propshaft includes a prop flange, which may be mated to the axle flange for common rotation therewith. The damper includes an outer mass that annularly surrounds the prop flange. The damper is press-fit onto one of the prop flange and a flange pilot, such that the damper is attached directly to the propshaft without fasteners.

A phase control apparatus in a variable cam timing (VCT) system of an engine is described herein. The phase control apparatus includes a locking pin coupled to a vane, the locking pin extending into a locking pin recess in a cover plate in a locked configuration, the locking pin and locking pin recess having a backlash and a housing at least partially enclosing the vane and spaced away from the vane forming a gap in the locked configuration.

A pusher assembly for a stent delivery device includes a distal end of an elongate member and a stent-engaging member having proximal and distal ends. The proximal end of the stent-engaging member is mechanically coupled to the distal end of the inner member by a connector, or the proximal end of the stent-engaging member is at least partially inside the distal end of the elongate inner member. The stent-engaging member includes a portion that radially outwardly extends towards the distal end of the stent-engaging member, or the stent-engaging member includes a portion that radially outwardly extends towards the distal end of the stent-engaging member. The stent-engaging member is configured to move a stent when distally advanced and configured to not move a stent when proximally retracted. A stent delivery device includes an elongate outer member, an elongate inner member coaxially positioned within the outer member, and the pusher assembly.

A phase varying apparatus capable of smoothly varying the phase angle of a camshaft relative to a drive rotor by comprising: a drive rotor supported by a camshaft and driven by a crankshaft; a first control rotor integral with the camshaft; a first torquing mechanism for providing the first drive rotor with a torque in one direction, and a reverse rotation mechanism for proving the first control rotor with a torque in the opposite direction, wherein the reverse rotation mechanism comprises a first radius-decreasing guide groove formed in the control rotor, a crank member adapted to rotate about a position offset from the rotational axis of the drive rotor, and a first pin mechanism mounted on the crank member and movable in the radius-decreasing guide groove, and a second operative mechanism for rotating the first control rotor in the opposite rotational direction relative to the drive rotor.

A propshaft assembly that includes a tubular member, first and second end connections coupled to opposite ends of the tubular member and a damper that is received in the tubular member and positioned between the first and second end connections. The tubular member has a wall member that defines an interior circumferential surface. The damper has a first damping device, a second damping device and a third damping device. The first damping device has a first core and a first damping member that is fixed to the first core. The first damping member extends helically about the first core and engages the interior circumferential surface. The second damping device is formed of foam and is positioned in the tubular member between the first and third damping devices. The second damping device engages the interior circumferential surface. The third damping device has a second core and a second damping member that is fixed to the second core. The second damping member extends helically about the second core and engages the interior circumferential surface.

A system and methods are provided for controlling a motor of a rod pumping system using previous RPMs of the motor and predicting an RPM of the motor; correcting a power factor of a motor of a rod pumping system; allocating energy consumption and allocating energy generation for a set of wells connected to an electricity meter using an amount of energy generated by each well; and generating an alert if a set of data is beyond a threshold for the set of data.

A secondary or “sidebar” display within a process control environment may provide several small applications to allow business managers, engineers, maintenance personnel, or other non-operator personnel to organize and manage process control system information and to display selected diagnostics and summary information or “key operating parameters” for the process control system. Further, sidebar applications may communicate with other applications that are executing on a non-operator user's workstation to, thereby, retrieve information related to tasks that the user is currently completing. The sidebar application may then determine whether certain process control information may be useful for the main task the user is completing and display that process control information within the sidebar.

A sensor system configured for use with an article of apparel includes one or a plurality of sensors formed of a polymeric material having a conductive particulate material dispersed therein and conductive leads connecting the sensors to a port. The leads may also be formed of a polymeric material having a conductive particulate material dispersed therein. The conductive material is dispersed in the sensor(s) at a first dispersion density and the conductive material is dispersed in the leads at a second dispersion density that is higher than the first dispersion density. Each of the sensors is configured to increase in resistance when deformed under pressure, which is detected by a module connected to the port. The second dispersion density is such that each of the leads has sufficient conductivity that the leads are configured to conduct an electronic signal between each sensor and the port in any state of deformation.

An audio setting application of a smart phone acquires tuning data from a tuning data setting server, which meets a search condition specified by a user. The audio setting application performs filtering of tuning parameters included in the tuning data. The tuning parameters are parameters of a plurality of acoustic characteristic items of an audio apparatus, and such parameters are excluded if the parameter cannot be expected to achieve an appropriate effect when the parameter is applied to the audio apparatus.

A robotic apparatus for machining tenons on turbine buckets of a steam turbine machine is disclosed. The robotic apparatus includes a machining device having a spindle head. A robotic arm is coupled to the machining device and a base member is coupled to the robotic arm. The base member is mounted independently of the machine element. A vision system is provided for locating the tenon on the turbine bucket. A control system is coupled to the vision system, the machining device and the robotic apparatus. The control system is configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the tenon and the turbine bucket.

A pharmacy automation system having a robot having a hardware device and a software for internal mapping is configured to carry out at least the following different interactions: the robot communicates autonomously with a physician or an assistant directly or via an intermediary; the robot interacts with an inventory of goods and browses the inventory of goods to determine if a prescribed medication is available in the pharmacy; if the prescribed medication is available in the pharmacy, the robot interacts with a medication dispenser, using the internal mapping to fill a container with the prescribed medication, and store the container; when a patient or a proxy arrives to pick up the prescribed medication, the robot checks and approves an identification of the patient or the proxy; and hands the container with the prescribed medication over to the patient or proxy.

Embodiments of the present invention provide systems and methods for assisting sort operators in identifying the appropriate location to sort an item. In accordance with one aspect of the invention, a system for identifying a particular bin from a plurality of bins for sorting a package is provided. The system includes a plurality of bins configured to receive sorted packages; an optical reader positioned to capture destination indicia associated with the package; a keypad comprising a plurality of keys, where in at least some of the keys are associated with individual bins of the plurality of bins and at least some of the keys include lights; and a control system. The control system is configured to: receive data from the optical reader relating to the destination indicia; identify a particular bin within the plurality of bins associated with the received data; and trigger illumination of one or more lights on the keypad.

Apparatus, and an associated method, for generating a trouble ticket related to an IT incident. When an IT incident occurs, a worklog is formed by a reporter that enters information associated with the incident. Successive inputs, made by appropriate personnel, are made to update the status of the incident. A table-of-contents is formed, associated with the collection of entries of information. And, each entry of information is categorized, to identify the entry by an associated category.

Present invention discloses a dispenser having means to dispense desired number of pills from a bulk supply of pills contained in the dispenser. The dispenser comprises of storage compartment having bulk supply of pills and having a discharge port emptying into counting compartment The counting compartment contains first and second conveyors moving at first and second speed; wherein the second speed is greater than the first speed thereby enabling pill separation; the second conveyor discharges pills into dispensing compartment. Sensors are strategically placed along the conveyors to count pills discharged into dispensing compartment. A pill recovery system and apparatus is disposed inside the dispenser having means to recover pills remaining on conveyors upon completion of a dispensation cycle and deposit recovered pills back into the storage compartment for use in future dispensation cycles. A docking station having receptacles to accommodate dispenser is provided. Docking station has communication ports enabling two-way communication with personal computer.

Provided are a home network system and a method for an autonomous mobile robot to travel along a shortest travel route. The home network system capable of home automation includes a plurality of beacons for sensing a user located in a cell coverage area and for transmitting resulting sensing information of the user; an autonomous mobile robot for executing travel to reach the user based on provided travel route information; and a home server for calculating a travel route along which the autonomous mobile robot can easily reach the user based on the sensing information of the user transmitted from the beacons, and for providing the travel route to the autonomous mobile robot. Therefore, the autonomous mobile robot may reach the user by the shortest travel route and thus reducing energy loss.

A robot system, including an arm capable of controlling a position and orientation of an arm tip portion, a hand, which is attached to the arm tip portion and which includes a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation from the arm tip portion of the grasped operation target, and a position and orientation measurement apparatus configured to perform relative position and orientation measurement from the arm tip portion of the grasped operation target, wherein measurement of the relative position and orientation from the arm tip portion of the operation target is performed after the operation target is grasped by the grasping mechanism, while the arm tip portion is still moving, and correction of the relative position and orientation from the arm tip portion of the hand is performed based on a result of the position and orientation measurement so that the arm tip portion takes a predetermined relative position and orientation from the arm tip portion.

In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm.

There is provided a method for actuating a first key of a keyboard with a tracer finger of a robot. An exemplary method comprises acquiring parameters of the keyboard and determining a position of the first key as a function of the acquired parameters using a model of the keyboard. The exemplary method also comprises guiding the tracer finger of the robot to the determined position of the first key. The exemplary method additionally comprises actuating the first key with the tracer finger of the robot.