Computer-implemented method, system and computer program product for positioning an object using a computer-controlled positioning device

Abstract

A computer positions an object using a computer-controlled positioning device. The computer is operatively associated with the positioning device via a control interface. The positioning device has a substantially hollow interior chamber. The computer identifies a selected object that is located at a primary position within the interior chamber and has a primary orientation with respect thereto. The computer identifies a first array of elements that are structured and arranged to generate a non-contact support force sufficient to hold the selected object at the primary position. The computer identifies a second array of elements that are structured and arranged to provide a non-contact interaction force sufficient to move the selected object within the interior chamber. The computer interacts with the selected object using the control interface to adjust at least one of the support force and the interaction force to place the selected object into at least one of a secondary position or a secondary orientation.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to the field of robotics, and more particularly to positioning a selected object using a computer controlled positioning device. BACKGROUND

[0002] Computer controlled robotic positioning devices allow for interaction with objects. These devices allow for controlled movement and precise positioning of objects. Modern positioning devices can quickly grip and move heavy loads. Unfortunately, the force required to firmly grip a heavy load can exert a damaging force on the engaged object. Some objects, such as precision electronics and other fragile components, can be damaged if engaged with excessive pressure. Severe component damage can occur when these components are not handled properly. SUMMARY

[0003] According to one embodiment, a computer-implemented method of positioning an object using a computer-controlled positioning device includes identifying, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a substantially hollow interior chamber. The computer identifies a selected object located at a primary position within the interior chamber and having a primary orientation with respect to the chamber. The computer identifies a first array of elements configured and arranged to generate a non-contact support force sufficient to hold the selected object at the primary position. The computer identifies a second array of elements configured and arranged to provide a non-contact interaction force sufficient to move the selected object within the interior chamber. The computer interacts with the object via the control interface to adjust at least one of the support force and the interaction force to place the selected object to at least one of a secondary position or a secondary orientation. According to aspects of the invention, the computer identifies a movable sleeve having a sleeve interior chamber substantially coaxial with the interior chamber of the positioning device. The computer moves the sleeve, via the control interface, to a position extending with respect to the interior chamber of the positioning device. The at least one of the secondary position or the secondary orientation is within the sleeve interior chamber. According to aspects of the invention, the computer identifies a camera associated with the interior chamber and adapted and arranged to identify a current position of the selected object with respect to at least one positioning reference. Interacting with the selected object is at least partially referenced to a signal sent by the camera. According to aspects of the invention, the support force is selected from a list consisting of acoustic radiation force and magnetic force. According to aspects of the invention, at least one of the force-generating elements is independently controlled and the adjustment of at least one of the support force and the interaction force is based at least in part on the independent control. According to aspects of the invention, the computer identifies the positioning device as a sending positioning device and a second positioning device substantially identical to the sending positioning device as a receiving positioning device; and the at least one secondary position or secondary orientation is within the second positioning device. According to aspects of the invention, the computer identifies the selected object as an object for which the computer has a stored set of associated interactions; and wherein the at least one of the secondary position or the secondary orientation is identified within the stored set of interactions.

[0004] According to another embodiment, a system for positioning an object using a computer controlled positioning device, the system comprising: a computer system including a computer readable storage medium having program instructions embodied therewith, the program instructions executable by a computer to cause the computer to: identify, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a substantially hollow interior chamber; identify a selected object located at a primary position within the interior chamber and having a primary orientation relative to the interior chamber; identify a first array of elements configured and arranged to generate a non-contact support force sufficient to hold the selected object at the primary position; identify a second array of elements configured and arranged to provide a non-contact interaction force sufficient to move the selected object within the interior chamber; and interact, by the computer, with the object using the interface to adjust at least one of the support force and the interaction force to place the selected object into at least one of a secondary position or a secondary orientation.

[0005] According to another embodiment, a computer program product for positioning an object within an environment using a computer controlled positioning device, the computer program product comprising a computer readable storage medium having program instructions embodied therewith, the program instructions executable by a computer to cause the computer to: identify, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a substantially hollow interior chamber; identify, using the computer, a selected object located at a primary position within the interior chamber and having a primary orientation relative to the interior chamber; identify, using the computer, a first array of elements configured and arranged to generate a non-contact support force sufficient to hold the selected object at the primary position; identify, using the computer, a second array of elements configured and arranged to provide a non-contact interaction force sufficient to move the selected object within the interior chamber; and interact, using the computer, with the object by the computer using the interface to adjust at least one of the support force and the interaction force to place the selected object into at least one of a secondary position or a secondary orientation.

[0006] The present disclosure recognizes and addresses shortcomings and problems associated with gripping delicate objects with computer controlled devices. BRIEF DESCRIPTION OF DRAWINGS

[0007] These and other objects, features, and advantages of the present application will become apparent to those skilled in the art from the following detailed description in conjunction with the accompanying drawings. The various features of the drawings are not to scale as for clarity and ease of presentation, the drawings are intended to help the skilled person understand the application in conjunction with the detailed description. The drawings are as follows:

[0008] Figure 1is a schematic block diagram showing an overview of a system for computer-implemented optimization of input component activation in a teleconference according to embodiments of the application.

[0009] Figure 2 is a flowchart showing aspects of a method implemented by the system shown, the method being a method for positioning an object using a computer-controlled, low contact force generating positioning device according to aspects of the application. Figure 1

[0010] Figure 3 is a flowchart showing additional aspects of a method implemented by the system shown, the method being a method for positioning an object using a computer-controlled, low contact force generating positioning device according to aspects of the application. Figure 1

[0011] Figure 4 is a flowchart showing additional aspects of a method implemented by the system shown, the method being a method for positioning an object using a computer-controlled, low contact force generating positioning device according to aspects of the application. Figure 1

[0012] Figure 5 is a flowchart showing additional aspects of a method implemented by the system shown, the method being a method for positioning an object using a computer-controlled, low contact force generating positioning device according to aspects of the application. Figure 1

[0013] Figure 6 is an isometric view of a portion of a positioning device used in a method for positioning an object using a computer-controlled, low contact force generating positioning device according to aspects of the application.

[0014] Figure 7A is a partial side view of the positioning device shown, schematically showing internal chambers and elements supporting, monitoring and interacting with a selected object in a primary position according to aspects of the application. Figure 6

[0015] is a partial side view of the positioning device shown, schematically showing internal chambers and elements supporting, monitoring and interacting with a selected object in a secondary position according to aspects of the application. Figure 7B Figure 6 is a partial end view of the positioning device shown, schematically showing internal chambers and a selected object in a primary orientation according to aspects of the application.

[0016] Figure 8A Figure 6 is a partial end view of the positioning device shown, schematically showing internal chambers and a selected object in a primary orientation according to aspects of the application.

[0017] Figure 8B is a partial end view of the positioning device shown, schematically showing internal chambers and a selected object in a primary orientation according to aspects of the application. Figure 6 ​​​​​​Partial end view of a positioning apparatus, illustratively showing an internal chamber and elements for moving a selected object to a secondary orientation in accordance with aspects of the present application.

[0018] Figure 9 Isometric view of portions of an embodiment of a positioning apparatus having an extendable sleeve for use in a method of positioning an object using a computer controlled, low contact force generating positioning apparatus in accordance with aspects of the present application.

[0019] Figure 10 Is Figure 9 Partial side view of a positioning apparatus, illustratively showing an internal chamber and a selected object in a primary position in accordance with aspects of the present application.

[0020] Figure 11 Is a perspective view of portions of two positioning apparatuses cooperating in a method of positioning an object using a computer controlled, low contact force generating positioning apparatus in accordance with aspects of the present application.

[0021] Figure 12 Is a perspective view of portions of a positioning apparatus, illustratively showing a selected object in a transfer orientation in accordance with aspects of the present application. Figure 11 Partial side view of an internal chamber of a positioning apparatus and a selected object in a primary position.

[0022] Figure 13 Is a perspective view of portions of a positioning apparatus, illustratively showing a selected object in a transfer orientation in accordance with aspects of the present application. Figure 12 Partial side view of an internal chamber of a positioning apparatus and a selected object partially transferred between positioning apparatuses in a secondary position.

[0023] Figure 14 Is a schematic block diagram illustrating a computer system in accordance with embodiments of the present disclosure, which can be incorporated in whole or in part into Figure 1 One or more computers or devices shown, and in cooperation with Figure 1 The systems and methods shown.

[0024] Figure 15 A cloud computing environment in accordance with embodiments of the present application is shown.

[0025] Figure 16 An abstraction model layer in accordance with embodiments of the present application is shown. DETAILED DESCRIPTION

[0026] The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the application as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these details are to be considered in the context of the disclosure. Therefore, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. In addition, descriptions of well-known functions and constructions can be omitted for clarity and conciseness.

[0027] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used to enable a comprehensive understanding of the application. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present application are provided for illustration purpose only and not for limiting the application as defined by the appended claims and their equivalents.

[0028] It should be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a participant" includes reference to one or more of such participants unless the context clearly dictates otherwise.

[0029] Reference will now be made in detail to the embodiments of the application, one or more examples of which are illustrated in the figures, and specific language will be used herein to describe the same. It should nevertheless be understood that no limitation of the scope of the application is intended by illustrative examples, which illustrate the more general principles of the application. Figure 1 And FIG. 2, an overview of a method of positioning an object using computer-controlled, low contact force generating positioning devices that can be used within a system 100, as performed by a server computer 102 having an optionally shared storage device 104. The server computer 102 includes an object location assessment module (OLAM) 106 that determines the suitability of a current location of a selected object 108. As will be discussed more fully below, the server computer 102 operates control via a control interface 114 with one or more positioning devices 110, 112, and based on information from the OLAM 106, determines whether the selected object 108 is in a desired location, and directs components within the system 100 accordingly.

[0030] Each positioning device 110, 112 includes components that engage the selected object 108 in a substantially contactless manner, with minimal amount of contact within an interior chamber 111 of an elongated housing assembly 109. In particular, the positioning devices 110, 112 each include an array of support force elements 116 that collectively generate a contactless support force 118 (e.g., as shown in Figure 6 The support force elements 116 are grouped into cooperating arrays arranged about the interior chamber 111 (e.g., as shown in Figure 7A And 7BThe support force elements 116 are wave sources (e.g., ultrasonic transducers, etc.) that generate high frequency (e.g., above 25 kHz) waves. According to aspects of the present application, the support force elements 116 are arranged such that the generated waves 118 will constructively interfere to generate standing waves characterized by high and low pressure regions capable of supporting lightweight objects (e.g., below about 200 mg) having a volume below about 10 cubic millimeters and a weight typically in the range of 1 mg to 25 mg. According to aspects of the present application, the selected objects are expected to be relatively small electronic components or other similar fragile elements, such as computer circuitry, etc.

[0031] Aspects of the positioning apparatus 110, 112 will engage the selected object 108 with minimal amounts of force, thereby ensuring safe, non-destructive object manipulation. When these forces 118 are applied uniformly, without other intervening forces (such as those 122 from the interactive force elements 120), the selected object 108 will tend to remain at one location within the interior chamber 111. According to aspects of the present application, the selected object 108 can be supported within a fixed high pressure node located in the standing wave of non-contact support forces 118. According to aspects of the present application, the support force elements 116 and the interactive force generating elements 120 are located within the positioning apparatus housing assembly 109 proximate to and typically at least partially surrounding the housing assembly interior chamber 111. According to aspects of the present application, the server computer 102 uses stored (or present in sources available to the server computer) information about the selected object 108 to estimate the selected object weight. In one embodiment, as known to those skilled in the art, the server computer 102 will calculate the acoustic radiation force (also known as acoustic levitation force) appropriate for the selected object 108 and will direct the support force elements 116 to generate the support forces 118 accordingly. According to aspects of the present application, these acoustic standing waves are sufficient to maintain the selected object 108 at a desired distance (e.g., radial distance "d" as shown in FIG. 1) from the support force elements 116. According to aspects of the present application, the server computer 102 can selectively adjust the strength of the forces 118 generated within the array of support force elements 116 to strategically impart motion to the selected object 108. In some embodiments, the positioning apparatus 110, 112 is a robotic arm mounted on a dynamic articulating apparatus mount 115 controlled by the server computer 102 via the control interface 114. According to aspects of the present application, the server computer 102 can control various components of the positioning apparatus through the control interface 114 (e.g., control panel) and the apparatus mount 115. Figure 7B

[0032] ​Note that in some embodiments, the support force elements 116 generate a cooperative magnetic force suitable for supporting an object of a suitable material (e.g., a ferromagnetic material or other known material responsive to a magnetic force selected by those skilled in the art). In one embodiment, the support force elements 116 are magnetic, generating a substantially attractive magnetic force. In other embodiments, the support force elements 116 generate a substantially repulsive known magnetic force. In accordance with aspects of the present application, one or more Hall effect sensors (not shown) can be used to adjust the generated magnetic force (e.g., the non-contact support force 118) to maintain the selected object 108 at a desired distance (e.g., the radial distance "d" shown in FIG. 1) from the support force elements 116. Figure 7B

[0033] In accordance with aspects of the present application, the positioning devices 110, 112 include a camera 124 arranged to monitor the interior chamber 602 of the housing assembly, thereby allowing the server computer to determine the current position of the selected object 108. In accordance with aspects of the present application, the interior chamber 111, 130, 1002 includes reference markers (not shown) to assist in determining the positioning of the selected object 108. The server computer 102 sends reference images (e.g., a plurality of still images or a video) to the OLAM for processing and recognition of the selected object position as needed as part of moving the selected object from a primary position to a secondary position (e.g., moving the selected object from the primary position shown in FIG. 1 to the secondary position shown in FIG. 2, or moving the selected object from the primary orientation shown in FIG. 1 to the secondary orientation shown in FIG. 2). Figure 7A Figure 7B Figure 8A Figure 8B

[0034] In accordance with aspects of the present application, the positioning devices 110, 112 include an interactive force generating element 120 that cooperatively generates an object movement force 122 sufficient to change the position of the selected object 108. In particular, the object movement force 122 is sufficient to move the position of the selected object 108 (e.g., along an axial translation of the primary axis 604 of the interior chamber 111, 130, 1002 shown collectively in FIGS. 1 and 2), the orientation of the selected object (such as a rotation about the primary axis 602 of the interior chamber 111, 130, 1002 shown collectively in FIGS. 1 and 2), and combinations thereof. The server computer 102 can effect other changes in the position of the selected object by appropriately directing the interactive force generating element 120 to move the selected object 108 to a desired position and orientation. Figure 7A Figure 7B

[0035] ​​​​​​​According to aspects of the present application, the interactive force generating element 120 is a nozzle that produces a jet (or similar controlled flow) of fluid (e.g., such as air or other fluid selected as suitable for interacting with the selected object 108) that propels and moves the selected object from a primary position or orientation to a corresponding secondary position or orientation. The interactive force generating element 120 is in fluid communication with a source of fluid (not shown) to provide fluid directed by the server computer 102 to direct the selected object 108 to a desired second position based on input from the OLAM 106. Note that the server computer 102 can also cause the support force generating element 116 to generate a touchless support force 118 that can direct the selected object from one position to another. According to aspects of the present application, each of the support force generating element 116 and the interactive force generating element 120 are separately identified, and each of the various elements can be individually controlled and activated to selectively impart motion to the selected object 108. Note that a change in magnetic or ultrasonic force can be generated together to move the selected object from a first or primary position to a secondary position. In particular, the support force element 116 can generate a separately adjusted haptic or magnetic force (e.g., a force that varies along a major axis 602 of the interior chamber 111) to urge the selected object 108 to various positions and orientations.

[0036] Referring now to FIG. 2 in particular, and generally to the other figures, a method of positioning an object using a computer-controlled, low-touch force generating positioning device according to aspects of the present application will be described. At block 202, the server computer 102 identifies, via the control interface 114, a positioning device 110 operatively associated with the server computer 102; the positioning device has a hollow, substantially cylindrical interior chamber 111.

[0037] At block 204, the server computer 102 identifies, via the object location assessment module (OLAM) 106 and the camera 124, a selected object 108 positioned at a primary position within the interior chamber; the selected object 108 has a primary orientation relative to the interior chamber 111, and this position is tracked by the camera 124.

[0038] At block 206, the server computer 102 identifies a first array of elements (e.g., support force generating elements 116) configured and arranged to generate a touchless support force 118 sufficient to hold the selected object 108 in the primary position characterized by a primary position and a primary orientation (e.g., as shown in FIGS. 1A and IB, respectively). According to aspects of the present application, the support force generating elements 116 produce a uniform force that holds (and selectively adjusts) the selected object 108 in a desired position and orientation as indicated by the server computer 102 via the control interface 114. Figure 7A and Figure 8A At block 208, the server computer 102 identifies a second array of elements (e.g., interactive force generating elements 120) configured and arranged to generate a touch force 122 sufficient to move the selected object 108 from the primary position and the primary orientation to a secondary position and a secondary orientation. According to aspects of the present application, the interactive force generating elements 120 produce a touch force that moves the selected object 108 from the primary position and the primary orientation to the secondary position and the secondary orientation as indicated by the server computer 102 via the control interface 114.

[0039] At block 208, the server computer 102 identifies a second array of elements (e.g., the interactive force generating elements 120) that are structured and arranged to generate a contactless object moving force sufficient to move the selected object 108 from a primary position characterized by a primary location and a primary orientation (e.g., as shown in Figure 7A and Figure 8A respectively) to a secondary position characterized by a secondary location and a secondary orientation (e.g., as shown in Figure 7B and Figure 8B respectively). According to aspects of the present application, the support force generating elements 116 cooperatively produce a uniform force that holds (and selectively adjusts) the selected object 108 in a desired position and orientation as instructed by the server computer 102 via the control interface 114.

[0040] At block 210, the server computer 102 determines, via the OLAM 106 and the camera 124, whether the selected object 108 is in the desired position. According to aspects of the present application, the desired position can be provided by a user via the control interface 114, and if the selected object is in the desired position, no further action is taken until a new desired position is indicated through the control interface. However, if the current position of the selected object 108 is unacceptable or undesirable, the control proceeds to block 302. According to aspects of the present application, the secondary position can be within the positioning device 110, can be on a remote work surface, and can even be associated with a second positioning device 112.

[0041] If the server computer 102 has determined that the selected object 108 is not in the desired position, at block 302, the server computer determines, via the control interface 114, whether the desired position of the selected object is within the span of the housing assembly 109 (e.g., as shown by reference “LI” in Figure 10 If the server computer 102 determines that the desired position of the selected object 108 is within the span LI of the housing assembly 109, at block 304, the server computer interacts with the selected object 108 via the control interface 114, via which at least one of the contactless support force 118, the interactive force (e.g., the object moving force 122), or a combination of both is adjusted to place the selected object into the corresponding secondary position, secondary orientation, or both within the interior chamber 111 of the housing assembly 109. In particular, the server computer 102 directs the interactive force generating elements 120 to exert the object moving force 122 sufficient to push the selected object 108 into the new position, the new orientation, or a combination of both. According to aspects of the present application, the object moving force 122 can be directed substantially along the interior chamber principal axis 602 (e.g., to translate the selected object to the secondary position within the interior chamber 111 of the housing assembly 109, as shown in Figure 7A and Figure 7Bsubstantially circumferentially around the interior chamber primary axis (e.g., to rotate the selected object to a secondary orientation within the interior chamber 111 of the housing assembly 109, as Figure 8A and Figure 8B or some combination (e.g., to provide other suitable positions or orientations). According to some aspects of the application, the server computer 102 can direct the support force generating element 116 to adjust the contactless support force 118 to provide supplemental motion control of the selected object 108. The server computer 102 monitors images from the camera 124 and, once the selected object 108 is in the desired secondary position (e.g., as Figure 7B and 8B shown), directs the interaction force generating element 120 (and, optionally, the support force generating element 116) to hold it in place, and control returns to block 210 for further position evaluation.

[0042] If the server computer 102 determines that the desired position of the selected object 108 is not within the span LI of the housing assembly 109, at block 402 the server computer 102 determines, via the OLAM 106, whether the desired position of the selected object 108 is within the extended interior chamber 1002 associated with the positioning device 110. Specifically, the server computer determines whether the desired position of the selected object is within the span L2 of the outer sleeve 902 disposed outside of and coaxially aligned with the housing assembly 109. If appropriate, based on input from the OLAM 106, at block 404 the server computer 102 slides the outer sleeve 902 along the exterior of the housing assembly 109, along the primary axis 602, via the control interface 114. In one embodiment, the outer sleeve 902 includes a supplemental array of support force generating elements 116, interaction force generating elements 120, cameras 124, etc., as seen in the housing assembly 109, such that the server computer can use the outer sleeve to use the selected object support, repositioning, and position monitoring capabilities of the housing assembly 109 (e.g., as Figure 10 shown) in the span L2 of the interior chamber 1002 of the outer sleeve 902.

[0043] Once the server computer 102 has determined that the desired position of the selected object 108 is within the span L2 of the housing assembly 902 and the outer sleeve 902 has been extended, at block 406, the server computer 102 interacts with the selected object 108 via the control interface 114 by adjusting at least one of the contactless support force 118, the interactive force (e.g., the object moving force 122), or a combination thereof, to place the selected object into a corresponding secondary position, secondary orientation, or both within the interior chamber 1002 of the housing assembly 902. In particular, the server computer 102 directs the interactive force generating element 120 to apply the object moving force 122 sufficient to urge the selected object 108 into the new position, new orientation, or a combination thereof within the interior chamber 1002. According to aspects of the present invention, the object movement force 122 can be directed substantially along the internal chamber primary axis 602 (e.g., to translate the selected object to a secondary position within the internal chamber 1002 of the housing assembly 902), substantially circumferentially around the internal chamber primary axis (e.g., to rotate the selected object to a secondary orientation within the internal chamber 1002 of the housing assembly 902), or some combination (e.g., to provide other appropriate positions or orientations). According to some aspects of the present invention, the server computer 102 can direct the support force generating element 116 to adjust the contactless support force 118 to provide supplemental motion control of the selected object 108. The server computer 102 monitors the image from the camera 124 and, once the selected object 108 is in the desired secondary position, directs the interactive force generating element 120 (and optionally, the support force generating element 116) to maintain it in the appropriate position, and control returns to box 210 for further position evaluation.

[0044] According to aspects of the present invention, the desired location of the selected object 108 may exceed the span L1 of the interior chamber 111 of the housing assembly 109 and exceed the span L2 of the interior chamber 1002 of the extendable sleeve 902. In this case, the server computer 102 may determine via the OLAM 106 at block 502 to transfer the selected object 108 from the first positioning device 110 to the second positioning device 112 and identify an appropriate second positioning device 112 (e.g., Figure 11 At block 508, the server computer 102, via the control interface 114, places the first and second positioning devices 110, 112 in an object transfer orientation (e.g., aligning the major axes of each and placing the cylindrical interface surface edges 126, 128 proximate to each other), as shown. Figure 12As shown. Note that according to aspects of the present invention, the second positioning device 112 is substantially a replica of the positioning device 110, and the two positioning devices have comparable element arrays 116, 120, cameras 124, etc. At block 510, the server computer 102 interacts with the selected object using the control interface 114 to adjust at least one of the support force and the interaction force to place the selected object in at least one of a secondary position or secondary orientation within the second positioning device 112 (e.g., Figure 12 and Figure 13 ). According to various aspects of the present invention, transferring a selected object 108 between positioning devices 110, 112 is accomplished with negligible if any physical contact. Note that transferring a selected object 108 between positioning devices 110, 112 is particularly useful in component setups, where the selected object 108 may undergo a series of processing interactions during manufacturing, component finishing, and the like. According to various aspects of the present invention, activity groups can be associated with a given selected object 108, and the automatic interactions between these objects, positioning devices 110, 112, and individual positioning device elements (e.g., support force generating element 116, interaction force generating element 120, camera 124, etc.) can be stored by a server computer. These automatic interaction steps can be automatically executed when the identity of the selected device 108 (e.g., through automatic identification with the camera 124, direct identification through the control interface 114, or other methods selected by one skilled in the art) matches the identity of a device with a stored interaction group. This stored interaction arrangement is useful during repetitive tasks and improves the operational efficiency of the system 100, minimizing user interaction and oversight.

[0045] According to aspects of the present invention, if the desired secondary position is beyond the housing assembly 109, beyond the extendable outer sleeve 902, and not within the second positioning device 112, then at block 504, the server computer 102 triggers and alarms, and control returns to block 210 for further processing.

[0046] With respect to flowcharts and block diagrams, the flowcharts and block diagrams in the present drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0047] Reference Figure 14 The system or computer environment 1000 includes a computer graphics 1010 shown in the form of a general purpose computing device. The methods of the present application can be implemented, for example, in a program 1060, including program instructions implemented on a computer readable storage device or computer readable storage medium, such as is generally referred to as memory 1030, and more specifically as computer readable storage medium 1050. Such memory and / or computer readable storage medium includes non-volatile memory or non-volatile storage. For example, the memory 1030 can include storage medium 1034 such as RAM (random access memory) or ROM (read only memory), as well as cache memory 1038. The program 1060 can be executed by the processor 1020 of the computer system 1010 (to execute program steps, code, or program code). Additional data storage can also be implemented as a database 1110 including data 1114. The computer system 1010 and program 1060 are general representations of a computer and program, which can be local to a user, or provided as a remote service (e.g., as a cloud-based service), and can in further examples be provided using a website accessible using a communications network 1200 (e.g., interacting with a network, the Internet, or a cloud service). It will be appreciated that the computer system 1010 also generally represents a computer device or computer included in a device such as a laptop or desktop computer, or one or more servers, either alone or as part of a data center. The computer system can include a network adapter / interface 1026 and input / output (I / O) interface(s) 1022. The I / O interface 1022 allows for input and output of data to and from external devices 1074 that can be connected to the computer system. The network adapter / interface 1026 can provide for communication between the computer system and a network, generally shown as communications network 1200.

[0048] The computer 1010 can be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules can include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Method steps and system components and techniques can be implemented in the context of modules of program 1060 that execute tasks for each step of the method and system. These modules are generally represented as program modules 1064 in the figures. Program 1060 and program modules 1064 can perform particular tasks, routines, subroutines, instructions or code.

[0049] The methods of the present disclosure can run locally on a device such as a mobile device, or can run services on a server 1100 that can be remote and can be accessed using a communications network 1200, for example. Programs or executable instructions can also be provided as a service by a provider. The computer 1010 can be practiced in a distributed cloud computing environment where tasks are performed by a remote processing device that is linked through a communications network 1200. In a distributed cloud computing environment, program modules can be located in both local and remote computer system storage media including memory storage devices.

[0050] The computer 1010 can include various computer readable media. Such media can be any available media that is accessible by computer 1010 (e.g., computer system or server) and can include both volatile and non-volatile media, and removable and non-removable media. The computer memory 1030 can include additional computer readable media in the form of volatile memory, such as random access memory (RAM) 1034 and / or cache memory 1038. The computer 1010 can also include other removable / non-removable, volatile / non-volatile computer storage media in one example, a portable computer readable storage medium 1072. In one embodiment, the computer readable storage media 1050 can be provided in the form of a storage device readably and writeable by non-removable, non-volatile magnetic media. The computer readable storage media 1050 can be implemented, for example, as a hard disk drive. Additional memory and data storage can be provided such as a storage system 1110 (e.g., a database) for storing data 1114 and in communication with the processing unit 1020. The database can be stored on or be part of the server 1100. Although not shown, a disk drive for reading from and writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable, non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical media) can be provided. In such instances, each can be connected to the bus 1014 by one or more data media interfaces. As will be further depicted and described below, the memory 1030 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0051] For example, the method(s) described in this disclosure can be embodied in one or more computer programs, generally referred to as program 1060, and can be stored in memory 1030 in computer readable storage medium 1050. Program 1060 can include program modules 1064. Program modules 1064 can generally carry out the functions and / or methodologies of embodiments of the application as described herein. One or more programs 1060 are stored in memory 1030 and executable by processing unit 1020. As examples, memory 1030 can store operating system 1052, one or more application programs 1054, other program modules, and program data on computer readable storage medium 1050. It is to be understood that the programs 1060, operating system 1052, and application(s) 1054 stored on computer readable storage medium 1050 are similarly executable by processing unit 1020. It is also to be understood that applications 1054 and programs 1060 are generally shown and can include all or portions of one or more applications and programs discussed in this disclosure, or vice versa, i.e., applications 1054 and programs 1060 can be all or portions of one or more applications or programs discussed in this disclosure.

[0052] One or more programs can be stored in one or more computer readable storage media, such that the programs are included and / or encoded in the computer readable storage media. In one example, the stored programs can include program instructions for execution by a processor or a computer system having a processor to perform a method or cause the computer system to perform one or more functions.

[0053] Computer 1010 can also be communicatively coupled to one or more external devices 1074 such as a keyboard, a pointing device, a display 1080, etc.; one or more devices that enable a user to interact with computer 1010; and / or any devices (e.g., network card, modem, etc.) that enable computer 1010 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 1022. Still yet, computer 1010 can communicate with one or more networks 1200 such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via network adapter / interface 1026. As indicated, network adapter 1026 communicates with the other components of computer 1010 via bus 1014. It should be appreciated that although not shown, other hardware and / or software components could be used in conjunction with computer 1010. Examples, include, but are not limited to: microcode, device drivers 1024, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0054] It should be appreciated that a computer or program running on the computer 1010 can communicate with a server implemented as the server 1100 via one or more communication networks implemented as the communication network 1200. The communication network 1200 can include transmission media and network links, including, for example, wireless, wired, or fiber optic cables, and routers, firewalls, switches, and gateway computers. The communication network can include connections, such as a wired, wireless, or fiber optic cable connections, to one another. The communication network can represent a global collection of networks and gateways that use various protocols (e.g., Lightweight Directory Access Protocol (LDAP), Transmission Control Protocol / Internet Protocol (TCP / IP), Hyper Text Transfer Protocol (HTTP), Wireless Application Protocol (WAP), etc.) to communicate with one another. The network can also include many different types of networks, such as, for example, the Internet, local area networks (LANs), or wide area networks (WANs).

[0055] In one example, a computer can use a network that can use the Internet to access websites on the Web (World Wide Web). In one embodiment, the computer 1010, including mobile devices, can use a communication system or network 1200, which can include the Internet or a public switched telephone network (PSTN), such as a cellular network. The PSTN can include telephone lines, optical cables, transmission links, cellular networks, and communications satellites. The Internet can facilitate many search and messaging technologies, for example, using a cellular phone or a laptop computer to send a query to a search engine via a text message (SMS), Multimedia Message Service (MMS) (related to SMS), email, or web browser. The search engine can retrieve search results, i.e., links to websites, documents, or other downloadable data corresponding to the query, and similarly, via the device, provide the search results to the user as, for example, a web page of search results.

[0056] The present application can be a system, a method, and / or a computer program product at any possible technical detail level of integration. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0057] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch cards or

[0058] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions into the respective computing / processing device for storage in a computer readable storage medium within the respective computing / processing device.

[0059] Computer readable program instructions for carrying out operations of the present application can be assembly instructions, instruction-set-architecture (ISA) instructions, machine- related instructions, microcode, firmware instructions, state-setting data, configuration data for an integrated circuit, or source code or object code written in any combination of one or more programming languages, including an object-oriented programming language such as Smalltalk, C++ or the like, and a procedural programming language such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0060] Aspects of the present application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions.

[0061] These computer readable program instructions can be provided to a processor of a computer or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including

[0062] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0063] The computer program product of the present application can be implemented by a variety of means. For example, and as shown in Fig. 6, the computer program product 600 includes a computer readable storage medium 602 storing computer readable instructions 604. The computer readable storage medium 604 can be a tangible computer readable storage medium storing the instructions 604. The computer readable instructions 604 can be executable by one or more processors 606 to cause the performance of the instructions 604 by the one or more processors 606. The computer readable instructions 604 can include instructions which perform or implement the steps or actions described herein. In some embodiments, the computer readable storage medium 604 can be used to store the data described herein, as well as the instructions 604 to perform the functionality described herein. The computer readable storage medium 604 can be a computer readable signal medium 608 or a computer readable storage medium 610.

[0064] It should be understood that while the present disclosure includes a detailed description on cloud computing, implementations of the teachings set forth herein are not limited to a cloud computing environment. Rather, embodiments of the application are capable of working in conjunction with any other type of computing environment now known or later developed.

[0065] Cloud computing is a model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g. networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. This cloud model can include at least five characteristics, at least three service models, and at least four deployment models.

[0066] Features are as follows:

[0067] On-demand self-service: cloud consumers can unilaterally provision computing capabilities, such as server time and network storage, as needed automatically without requiring human interaction with the service's provider.

[0068] Broad network access: capabilities are available over a network and accessed through standard mechanisms that promote use by heterogeneous thin or thick client platforms (e.g., mobile phones, laptops, and PDAs).

[0069] Resource pooling: the provider's computing resources are pooled to serve multiple consumers using a multi-tenant model, with different physical and virtual resources dynamically assigned and reassigned according to demand. There is a sense of location independence in that the consumer generally has no control or knowledge over the exact location of the provided resources but can be able to specify location at a higher level of abstraction (e.g., country, state, or datacenter).

[0070] Rapid elasticity: in some cases, capabilities can be provisioned and released in a very short amount of time, in order to quickly scale out capabilities to handle increased demand, and to quickly scale in capabilities to handle decreased demand. For the consumer, the capabilities available for provisioning often appear to be unlimited and can be purchased in any quantity, at any time.

[0071] Measured service: cloud systems automatically control and optimize resource use by leveraging utilization of resources in an abstract way, giving consumers the ability to have almost limitless quantitative scale. Consumers can elastically provision any amount of resources at any time.

[0072] Service models are as follows:

[0073] Software as a Service (SaaS): the capability provided to the consumer is to use the provider's applications running on a cloud infrastructure. The applications are accessible from various client devices through either a thin client interface, such as a web browser (e.g., web-based e-mail) or a program interface. The consumer does not manage or control the underlying cloud infrastructure including network, servers, operating systems, storage, or even individual application capabilities, with the possible exception of limited user-specific application configuration settings.

[0074] Platform as a Service (PaaS): the capability provided to the consumer is to deploy onto the cloud infrastructure consumer-created or acquired applications created using programming languages and tools supported by the provider. The consumer does not manage or control the underlying cloud infrastructure including networks, servers, operating systems, or storage, but has control over the deployed applications and possibly application hosting environment configurations.

[0075] Infrastructure as a Service (laaS): the capability provided to the consumer is to provision processing, storage, networks, and other fundamental computing resources where the consumer is able to deploy and run arbitrary software, which can include an operating system and applications. The consumer does not manage or control the underlying cloud infrastructure but has control over operating systems, storage, deployed applications, and possibly limited control of select networking components (e.g., host firewalls).

[0076] Deployment models are as follows:

[0077] Private cloud: the cloud infrastructure is operated solely for the organization. It can be managed by the organization or a third party and can exist on-premises or off-premises.

[0078] Community cloud: the cloud infrastructure is shared by several organizations and supports mission-oriented business objectives by using shared concerns, such as security requirements or policy and compliance considerations. It can be managed by the organizations or a third party and can exist on-premises or off-premises.

[0079] Public cloud: the cloud infrastructure is made available to the general public or a large industry group and is owned by an organization selling cloud services.

[0080] Hybrid cloud: the cloud infrastructure is a composition of two or more clouds (private, community, or public) that remain unique entities but are bound together by standardized or proprietary technologies that enable data and application portability.

[0081] A cloud computing environment is service-oriented, with a focus on statelessness, low coupling, modularity, and semantic interoperability. At the core of cloud computing is an infrastructure comprising networks of interconnected nodes.

[0082] Referring now to the drawing Figure 15 , an illustrative cloud computing environment 2050 is described. As shown, cloud computing environment 2050 includes one or more cloud computing nodes 2010 with which local computing devices used by cloud consumers, such as, for example, personal digital assistant (PDA) or cellular telephone 2054A, desktop computer 2054B, laptop computer 2054C, and / or automobile computer system 2054N can communicate. Nodes 2010 can communicate with one another. They can be grouped (not shown) physically or virtually, in one or more networks, such as Private, Community, Public, or Hybrid clouds as described hereinabove, or a combination thereof. This allows cloud computing environment 2050 to offer infrastructure, platforms and / or software as services with Figure 9 The types of computing devices 2054A-N shown in

[0083] Referring now to the drawing Figure 16 , a set of functional abstraction layers provided by cloud computing environment 2050 Figure 15 ) is shown. It should be understood that the components, layers, and functions shown in Figure 16 are intended to be illustrative, and embodiments of the present application are not limited thereto. As depicted, the following layers and respective functions are provided:

[0084] Hardware and software layer 2060 includes hardware and software components. Examples of hardware components include: mainframes 2061; RISC (Reduced Instruction Set Computer) architecture based servers 2062; servers 2063; blade servers 2064; storage devices 2065; and networks and networking components 2066. In some embodiments, software components include network application server software 2067 and database software 2068.

[0085] Virtualization layer 2070 provides an abstraction layer from which the following examples of virtual entities can be provided: virtual servers 2071; virtual storage 2072; virtual networks 2073, including virtual private networks; virtual applications and operating systems 2074; and virtual clients 2075.

[0086] In one example, management layer 2080 can provide the functions described below. Resource provisioning 2081 provides dynamic procurement of computing resources and other resources that are utilized to perform tasks within the cloud computing environment. Metering and Pricing 2082 provide cost tracking as resources are utilized within the cloud computing environment, and billing or invoicing for consumption of these resources. In one example, these resources can include application software licenses. Security provides identity verification for cloud consumers and tasks, as well as protection for data and other resources. User portal 2083 as used in this figure can provide for the consumers to engage with the

[0087] Workloads layer 2090 provides examples of functionality for which the cloud computing environment can be utilized. Examples of workloads and functions which can be provided from this layer include: mapping and navigation 2091; software development and lifecycle management 2092; virtual classroom education delivery 2093; data analysis processing 2094; transaction processing 2095; and positioning objects using computer controlled, low contact force, positioning devices 2096.

[0088] The descriptions of various embodiments of the present application have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A computer-implemented method for locating an object using a computer-controlled positioning device, the method comprising: identifying, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a hollow interior chamber; identifying a selected object located at a primary location within the hollow interior chamber and having a primary orientation relative to the hollow interior chamber; identifying a first array of elements constructed and arranged to generate a contactless support force sufficient to hold the selected object in the primary position; identifying a second array of elements constructed and arranged to provide a contactless interactive force sufficient to move the selected object within the hollow interior chamber; as well as interacting, by the computer, with the selected object using the interface to adjust at least one of the support force and the interaction force to place the selected object in at least one of a secondary position or a secondary orientation; identifying, by the computer, a movable sleeve having a sleeve interior chamber coaxial with a hollow interior chamber of the positioning device; moving, by the computer via the control interface, the movable sleeve to a position extending relative to the hollow interior chamber of the positioning device; and Wherein, said at least one of said secondary position or said secondary orientation is within said sleeve interior cavity.

2. The method according to claim 1, further comprising: identifying, by the computer, a camera associated with the hollow interior chamber, the camera adapted and arranged to identify a current position of the selected object relative to at least one positioning reference; as well as Wherein, interacting with the selected object is performed at least in part with reference to a signal sent by the camera.

3. The method according to claim 1, wherein The supporting force includes acoustic radiation force and magnetic force.

4. The method according to claim 1, wherein At least one of the first element array and the second element array is independently controlled, and wherein the adjustment of the at least one of the support force and the interaction force is based at least in part on the independent control.

5. The method according to claim 1, further comprising: The computer identifies the positioning device as a sending positioning device, and identifies a second positioning device identical to the sending positioning device as a receiving positioning device; and in, The at least one secondary position or secondary orientation is within the second positioning device.

6. The method according to claim 1, further comprising: A selected object is identified by the computer as an object for which the computer has a stored set of associated interactions; and wherein the at least one of the secondary position or the secondary orientation is identified within the stored set of interactions.

7. A system for locating an object using a computer-controlled positioning device, the system comprising: A computer system comprising a computer-readable storage medium having program instructions embodied therewith, the program instructions being executable by a computer to cause the computer to: identifying, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a hollow interior chamber; identifying a selected object located at a primary location within the hollow interior chamber and having a primary orientation relative to the hollow interior chamber; identifying a first array of elements constructed and arranged to generate a contactless support force sufficient to hold the selected object in the primary position; identifying a second array of elements constructed and arranged to provide a contactless interactive force sufficient to move the selected object within the hollow interior chamber; as well as interacting, by the computer, with the selected object using the interface to adjust at least one of the support force and the interaction force to place the selected object in at least one of a secondary position or a secondary orientation; identifying a movable sleeve having a sleeve interior chamber coaxial with the hollow interior chamber of the positioning device; moving the movable sleeve via the control interface to a position extending relative to the hollow interior chamber of the positioning device; and Wherein, said at least one of said secondary position or said secondary orientation is within said sleeve interior cavity.

8. The system according to claim 7, further comprising: identifying, by the computer, a camera associated with the hollow interior chamber, the camera adapted and arranged to identify a current position of the selected object relative to at least one positioning reference; as well as Wherein, interacting with the selected object is performed at least in part with reference to a signal sent by the camera.

9. The system according to claim 7, wherein: The supporting force includes acoustic radiation force and magnetic force.

10. The system according to claim 7, wherein: At least one of the first element array and the second element array is independently controlled, and wherein the adjustment of the at least one of the support force and the interaction force is based at least in part on the independent control.

11. The system according to claim 7, further comprising, Identify the positioning device as a sending positioning device, and identify a second positioning device that is the same as the sending positioning device as a receiving positioning device; and in, The at least one secondary position or secondary orientation is within the second positioning device.

12. The system of claim 7, further comprising: A selected object is identified as an object for which the computer has a stored set of associated interactions; and wherein the at least one of the secondary position or the secondary orientation is identified within the stored set of interactions.

13. A computer program product for locating an object using a computer-controlled positioning device, the computer program product comprising program instructions executable by a computer to cause the computer to: identifying, via a control interface, a computer and a positioning device operatively associated with the computer, the positioning device having a hollow interior chamber; identifying, using the computer, a selected object located at a primary location within the hollow interior chamber and having a primary orientation relative to the hollow interior chamber; identifying, using the computer, a first array of elements constructed and arranged to generate a contactless support force sufficient to hold the selected object in the primary position; identifying, using the computer, a second array of elements constructed and arranged to provide a contactless interactive force sufficient to move the selected object within the hollow interior chamber; as well as using the computer, interacting with the selected object using the interface by the computer to adjust at least one of the support force and the interaction force to place the selected object in at least one of a secondary position or a secondary orientation; identifying, using the computer, a movable sleeve having a sleeve interior chamber coaxial with a hollow interior chamber of the positioning device; moving the movable sleeve via the control interface using the computer to a position extending relative to the hollow interior chamber of the positioning device; and Wherein, said at least one of said secondary position or said secondary orientation is within said sleeve interior cavity.

14. The computer program product of claim 13, further comprising: identifying, by the computer, a camera associated with the hollow interior chamber, the camera adapted and arranged to identify a current position of the selected object relative to at least one positioning reference; as well as Wherein, interacting with the selected object is performed at least in part with reference to a signal sent by the camera.

15. The computer program product of claim 13, wherein: The support force is selected using the computer from acoustic radiation force and magnetic force.

16. The computer program product of claim 13, wherein: At least one of the first element array and the second element array is independently controlled using the computer, and wherein the adjustment of the at least one of the support force and the interaction force is based at least in part on the independent control.

17. The computer program product of claim 13, further comprising instructions for causing the computer to: using the computer to identify the positioning device as a sending positioning device, and to identify a second positioning device identical to the sending positioning device as a receiving positioning device; and in, The at least one secondary position or secondary orientation is within the second positioning device.

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