This paper describes a manipulation primitive called toppling—knocking a part over. We derive the mechanical conditions for toppling and describe two applications to conveyor-based parts feeding. Toppling complements previous approaches to conveyor-plane feeding, allowing full three-dimensional parts feeding on a constant-speed conveyor.

A low-cost automated vitrectomy machine was developed locally by the Department of Medical Physics and Engineering at Edinburgh University. The machine uses disposable handpieces, and has proved to be user-friendly, reliable, and efficient for anterior segment vitrectomy and, for selected patients, for posterior segment vitrectomy. The construction and mechanics of the machine are described. Si...

The urinalysis dates back 6000 years. Information has evolved from tasting it for sugar to computer assisted assessment for the presence of cells and casts. The urine gives valuable information about kidney function in general and the glomeruli in particular. Findings can lead to a diagnosis of various medical conditions, most notable being diabetes mellitus. Proteinuria has many implications, ...