Disclosed are compositions that comprise one or more broad-spectrum capture molecules (including, for example, the small, homodimer-forming lectin protein, Griffithsin), or glycoproteins that coat the viral envelope surface in methods for the identification of one or more virus particles in an airborne, aerosol, or aerosolized sample. Also disclosed are methods for the use of such capture agents in the manufacture of diagnostic reagents (as well as kits, devices, and systems comprising them), useful in developing viral detection platforms that are both rapid and facile to perform, yet highly-sophisticated, accurate, and sensitive. Methods are also provided for using these compositions in the identification, molecular capture, characterization, and design of therapeutic regents related thereto for the treatment of one or more symptoms of a viral infection, or a virally-induced disease in mammals and, particularly, in humans.
A detection device is adapted to traverse a search area and generate sensor data associated with an object that may be present in the search area, the detection device comprising a first logic device configured to detect and classify the object in the sensor data, communicate object detection information to a control system when the detection device is within a range of communications of the control system, and generate and store object analysis information for a user of the control system when the detection device is not in communication with the control system. A control system facilitates user monitoring and/or control of the detection device during operation and to access the stored object analysis information. The object analysis information is provided in an interactive display to facilitate user detection and classification of the detected object by the user to update the detection information, trained object classifier, and training dataset.
Techniques are disclosed for systems and methods for providing a wired connection between a ground-based robot (1202) and a controller (1204). A cable handling system (100) for a robot includes a base housing (102), a cable cartridge (104) removably connected to the base housing (102), a control cable (164) housed at least partially within the cable cartridge (104), and an outfeed assembly (106) coupled to the base housing (102) and configured to deploy the control cable (164) from the cable cartridge (104). The control cable (164) is deployable from the cable cartridge (104) to maintain a wired connection between the robot and a controller. The outfeed assembly (106) is configured to couple to a drive mechanism of the robot such that movement of the drive mechanism deploys the control cable from the cable cartridge. The outfeed assembly (106) may be configured to deploy the control cable (164) from the cable cartridge (104) regardless of the direction of movement of the drive mechanism.
B65H 75/42 - Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools or machines
Radiation source localization systems and related techniques are provided to improve the operation of handheld or unmanned mobile sensor or survey platforms. A radiation source localization system includes a logic device configured to communicate with a communications module and a directional radiation detector, where the communications module is configured to establish a wireless communication link with a base station associated with the directional radiation detector and/or a mobile sensor platform, and the directional radiation detector includes a sensor assembly configured to provide directional radiation sensor data as the directional radiation detector is maneuvered within a survey area.
G01T 7/00 - Details of radiation-measuring instruments
G01V 5/02 - Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for surface logging, e.g. from aircraft
G01V 5/00 - Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
5.
SYSTEM AND METHOD FOR REMOTE ANALYTE SENSING USING A MOBILE PLATFORM
Analyte survey systems (100) and related techniques are provided to improve the operation of handheld or unmanned mobile sensor or survey platforms. An analyte survey system includes a logic device (112) configured to communicate with a communication module (164) and a sensor assembly (166) of a modular sensor core (160), where the communication module is configured to establish a wireless communication link with a base station (130) associated with the modular sensor core and/or a mobile sensor platform (110) and the sensor assembly is configured to provide analyte sensor data as the modular sensor core is maneuvered within a survey area.
G01N 21/3504 - Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
G01N 33/00 - Investigating or analysing materials by specific methods not covered by groups
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
6.
OCCLUSION-BASED DIRECTIONALITY AND LOCALIZATION OF RADIATION SOURCES WITH MODULAR DETECTION SYSTEMS AND METHODS
Various techniques are provided to detect the direction and location of one or more radiation sources. In one example, a system includes a plurality of radiation detectors configured to receive radiation from a radiation source. A first one of the radiation detectors is positioned to at least partially occlude a second one of the radiation detectors to attenuate the radiation received by the second radiation detector. The system also includes a processor configured to receive detection information provided by the first and second radiation detectors in response to the radiation, and determine a direction of the radiation source using the detection information. A modular system including gamma radiation detectors and neutron radiation detectors and related methods are also provided. In some cases, radiation source type may be determined in addition to or separate from radiation source direction.
Systems and methods are provided for powering and controlling flight of an unmanned aerial vehicle. The unmanned aerial vehicles can be used in a networked system under common control and operation and can be used for a variety of applications. Selected embodiments can operate while tethered to a portable control system. A high speed tether management system can be used to facilitate both mobile and static tethered operation. Modular components provide for both tethered and fully autonomous flight operations.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B60L 53/50 - Charging stations characterised by energy-storage or power-generation means
B60L 50/60 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
B60L 58/12 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
An unmanned ground vehicle includes a main body, a drive system supported by the main body, and a manipulator arm pivotally coupled to the main body. The drive system comprising right and left driven track assemblies mounted on right and left sides of the main body. The manipulator arm includes a gripper, a wrist motor configured for rotating the gripper, and an inline camera in a palm of the gripper. The inline camera is mechanically configured to remain stationary with respect to the manipulator arm while the wrist motor rotates the gripper.
An unmanned ground vehicle includes a main body, a drive system supported by the main body, a manipulator arm pivotally coupled to the main body, and a sensor module. The drive system includes right and left driven track assemblies mounted on right and left sides of the main body. The manipulator arm includes a first link coupled to the main body, an elbow coupled to the first link, and a second link coupled to the elbow. The elbow is configured to rotate independently of the first and second links. The sensor module is mounted on the elbow.
G01S 13/88 - Radar or analogous systems, specially adapted for specific applications
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/88 - Lidar systems, specially adapted for specific applications
G01S 15/89 - Sonar systems specially adapted for specific applications for mapping or imaging
10.
SYSTEMS AND METHODS FOR IDENTIFYING THREATS AND LOCATIONS, SYSTEMS AND METHOD FOR AUGMENTING REAL-TIME DISPLAYS DEMONSTRATING THE THREAT LOCATION, AND SYSTEMS AND METHODS FOR RESPONDING TO THREATS
Systems for identifying threat materials such as CBRNE threats and locations are provided. The systems can include a data acquisition component configured to determine the presence of a CBRNE threat; data storage media; and processing circuitry operatively coupled to the data acquisition device and the storage media. Methods for identifying a CBRNE threat are provided. The methods can include: determining the presence of a CBRNE threat using a data acquisition component; and acquiring an image while determining the presence of the CBRNE threat. Methods for augmenting a real-time display to include the location and/or type of CBRNE threat previously identified are also provided. Methods for identifying and responding to CBRNE threats are provided as well.
Autonomous localized permeability material systems are provided that can include : a dynamically permeable porous material; and immobilized reagents operatively associated with the porous material in sufficient proximity to trigger a localized change in material pore size upon reagent reaction. Methods for preparing these materials are also provided as well as methods for autonomously modifying localized permeability of material.
B01D 67/00 - Processes specially adapted for manufacturing semi-permeable membranes for separation processes or apparatus
A62D 5/00 - Composition of materials for coverings or clothing affording protection against harmful chemical agents
B01D 69/02 - Semi-permeable membranes for separation processes or apparatus characterised by their form, structure or propertiesManufacturing processes specially adapted therefor characterised by their properties
This specification describes unmanned ground vehicle track systems. In some examples, an unmanned ground vehicle includes a frame having right and left sides and right and left track assemblies, each track assembly being coupled to a corresponding side of the frame in parallel with the other track assembly. Each track assembly includes a drive pulley coupled to the corresponding side of the frame and a track including a continuous flexible belt supported by the drive pulley. The track includes an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and the exterior surface of the track includes a plurality of flexible bristles. The unmanned ground vehicle includes one or more drive motors configured to drive the drive pulleys of the right and left track assemblies.
A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.
Mass spectrometry instruments are provided that are configured to provide dynamic switching between positive and negative ion preparation and analysis during a single sample analysis. Mass spectrometry analysis methods are also provided that can include switching between positive and negative ion preparation and analysis during a single sample analysis.
H01J 49/26 - Mass spectrometers or separator tubes
H01J 49/00 - Particle spectrometers or separator tubes
H01J 49/02 - Particle spectrometers or separator tubes Details
H01J 49/04 - Arrangements for introducing or extracting samples to be analysed, e.g. vacuum locksArrangements for external adjustment of electron- or ion-optical components
A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.
Techniques are disclosed for systems and methods to detect radiation accurately, and particularly in a highly radioactive environment. A system includes a detector module for a radiation detector and a parallel signal analyzer configured to receive radiation detection event signals from the detector module and provide a spectroscopy output and a dose rate output. The parallel signal analyzer may be configured to analyze the radiation detection event signals in parallel in first and second analysis channels according to respective first and second measurement times and determine the spectroscopy output and the dose rate output based on radiation detection event energies determined according to the respective first and second measurement times.
Techniques are disclosed for systems and methods to provide a radiation detector module for a radiation detector. A radiation detector module an enclosure, a radiation sensor separated from the enclosure by one or more damping inserts, readout electronics configured to provide radiation detection event signals corresponding to incident ionizing radiation in the radiation sensor, and a cap comprising an internal interface configured to couple to the readout electronics and an external interface configured to couple to a radiation detector, wherein the cap is configured to hermetically seal the radiation sensor within the enclosure. Plated edges of the cap can be soldered to the enclosure to hermetically seal the radiation sensor within the enclosure.
In an aspect, in general, a spooling apparatus includes a filament feeding mechanism for deploying and retracting filament from the spooling apparatus to an aerial vehicle, an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus, and a controller for controlling the feeding mechanism to feed and retract the filament based on the exit geometry.
A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.
A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.
B62D 55/088 - Endless-track unitsParts thereof with means to exclude or remove foreign matter e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
B60B 9/26 - Wheels of high resiliency comprising resilient spokes
B29C 45/00 - Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mouldApparatus therefor
B29L 31/32 - Wheels, pinions, pulleys, castors or rollers
B62D 55/12 - Arrangement, location, or adaptation of driving sprockets
B29K 69/00 - Use of polycarbonates as moulding material
B29K 77/00 - Use of polyamides, e.g. polyesteramides, as moulding material
A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
B62D 55/075 - Tracked vehicles for ascending or descending stairs
B25J 5/00 - Manipulators mounted on wheels or on carriages
B62D 37/04 - Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
B62D 55/02 - Endless-track vehicles with tracks and additional ground wheels
B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.
Mass separators are provided that can include at least one electrode component having a surface, in one cross section, defining at least two runs associated via at least one rise, the rise being orthogonally related to the runs. Mass selective detectors are provided that can include at least a first pair of opposing electrodes with each of the opposing electrodes having a complimentary surface, in one cross section, defining at least two runs associated via a rise. Methods for optimizing mass separation within a mass selective detector are also provided, including providing mass separation parameters; providing one set electrodes within the separator having a surface operatively aligned within the separator, the surface, in one cross section, defining at least two runs associated via a rise, the rise being orthogonally related to the runs; and modifying one or both of the rise and/or runs to achieve the mass separation parameters.
Analytical instrument inductors are provided that can include bundled wired conductive material about a substrate. Analytical instrument inductors are also provided that can include: a tubular substrate defining a plurality of flanges extending outwardly from a core of the substrate wherein opposing flanges define portions of the core; at least one pair of wires wound about a first portion of the core and between at least two flanges, the pair of wires extending to and wound about a second portion of the core; and wherein the one pair of wires are operatively coupled to an analytical instrument to provide inductance. Methods for preparing an instrument inductor are provided. The methods can include bundling wires about and within multiple exterior openings of a hollow-cored substrate; and connecting each of the bundles across the openings.
The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
B62D 55/075 - Tracked vehicles for ascending or descending stairs
B25J 5/00 - Manipulators mounted on wheels or on carriages
B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
B25J 11/00 - Manipulators not otherwise provided for
28.
STABILIZATION OF BIOMOLECULES BY ATTACHMENT OF RESPONSIVE POLYMERS AND SENSORS THEREOF
The present invention provides a biomolecule conjugate having one or more functionalized biomolecules wherein the biomolecule is functionalized with one or more reactive sites, and at least one polymer capable of undergoing a polymer growth reaction, wherein the polymer is attached to at least one of the reactive sites of the functionalized biomolecule and wherein the polymer envelopes the functionalized biomolecule to form a reversible nanoparticle structure which protects the biomolecule by dynamically collapsing to preserve the biomolecule when an adverse environmental stimulus is present. A method of protecting a biomolecule from environmental conditions is also provided.
A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.
3. Instrument assemblies are also provided that can include a housing coupled to an instrument component isolation assembly, wherein the component isolation assembly is isolated from an environment exterior to the housing. Exemplary instrument assemblies can include at least first and second components configured to provide analysis with a housing of the instrument at least partially encompassing the first and second components and the first component being rigidly affixed to the housing. An isolation assembly can also be provided that is rigidly affixed to the second component with the isolation assembly being isolated from received inputs of the housing.
Techniques are disclosed for systems and methods using silicon photomultiplier (SiPM) based radiation detectors to detect radiation in an environment. An SiPM-based radiation detection system may include a number of detector assemblies, each including at least one scintillator providing light to a corresponding SiPM in response to ionizing radiation entering the scintillator. The radiation detection system may include a logic device and a number of other electronic modules to facilitate reporting, calibration, and other processes. The logic device may be adapted to process detection signals from the SiPMs to implement different types of radiation detection procedures. The logic device may also be adapted to use a communication module to report detected radiation to an indicator, a display, and/or a user interface.
A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
B62D 55/04 - Endless-track vehicles with tracks and alternative ground wheels, e.g. changeable from endless-track vehicle into wheeled vehicle and vice versa
B25J 5/00 - Manipulators mounted on wheels or on carriages
B62D 37/04 - Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
B62D 55/02 - Endless-track vehicles with tracks and additional ground wheels
B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
B62D 55/075 - Tracked vehicles for ascending or descending stairs
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
In an aspect, in general, a spooling apparatus includes a filament feeding mechanism for deploying and retracting filament from the spooling apparatus to an aerial vehicle, an exit geometry sensor for sensing an exit geometry of the filament from the spooling apparatus, and a controller for controlling the feeding mechanism to feed and retract the filament based on the exit geometry.
A hand-held controller includes a controller body having right and left grips. The controller body defines a left control zone adjacent the left grip and a right control zone adjacent the right grip. A first set of input devices disposed in the left control zone includes a first analog joystick, a 4-way directional control adjacent the first analog joystick, and a left rocker control located adjacent the 4-way directional control. A second set of input devices disposed in the right control zone includes a second analog joystick, an array of at least four buttons adjacent the second analog joystick, and a right rocker control adjacent the button array. The hand-held controller also includes a display disposed on the controller body adjacent the left and right control zones.
G05G 1/01 - Arrangements of two or more controlling members with respect to one another
G08C 17/02 - Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05G 1/02 - Controlling members for hand-actuation by linear movement, e.g. push buttons
G05G 1/04 - Controlling members for hand-actuation by pivoting movement, e.g. levers
G08B 5/36 - Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmissionVisible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electromagnetic transmission using visible light sources
G08C 19/16 - Electric signal transmission systems in which transmission is by pulses
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
Embodiments described herein related to devices and methods for the collection and/or determination of analytes, such as illicit substances including military explosives, explosives, and precursors thereof. In some cases, the device may be a disposable device that incorporates highly efficient sample collection in combination with microfluidic- based chemical analysis resulting in the rapid detection and identification of unknown materials. In some cases, multiple colorimetric detection chemistries may be employed, and the resulting "barcode" of color changes can be used to positively identify the presence and/or identity of the analyte.
G01N 21/77 - Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
A method for controlling one or more remote vehicles may comprise manipulating remote dexterous manipulators, translating movement of the remote dexterous manipulators into movement of the one or more remote vehicles, and providing a sliding work window allowing control of the one or more remote vehicles' entire range of motion without sacrificing control resolution.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.
The present teachings relate generally to a small remote vehicle having rotatable flippers and a weight of less than about 10 pounds and that can climb a conventional-sized stairs. The present teachings also relate to a small remote vehicle can be thrown or dropped fifteen feet onto a hard/inelastic surface without incurring structural damage that may impede its mission. The present teachings further relate to a small remote vehicle having a weight of less than about 10 pounds and a power source supporting missions of at least 6 hours.
A smart antimicrobial material and dressing to inhibit microbial growth is provided. Endogenous chemicals, such as metabolites produced from bacteria are utilized as chemical substrates and converted by enzymes to produce a disinfecting compound that will in turn inhibit the targeted microorganism. The material shall remain passive until such time as it encounters a microbe which expresses and/or secretes specific metabolites or markers. The enzyme or enzymes embedded in the smart material converts the metabolite into a disinfecting compound, which in turn either kills the microorganism or prevents it from multiplying on the surface of the material.
A robot system that includes an operator control unit, mission robot, and a repeater. The operator control unit has a display. The robot includes a robot body, a drive system supporting the robot body and configured to maneuver the robot over a work surface, and a controller in communication with the drive system and the operator control unit. The repeater receives a communication signal between the operator control unit and the robot and retransmits the signal.
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
The embodiments described herein generally relate to compositions and articles including dye compounds having desirable optical properties, and related methods. In some cases, the compositions and articles may possess advantageous optical properties, including various degrees of absorbance, emission, and/or transmission at particular wavelengths or ranges of wavelength. Embodiments described herein may be useful as optical filters in protective eyewear applications.
G02B 1/04 - Optical elements characterised by the material of which they are madeOptical coatings for optical elements made of organic materials, e.g. plastics
The present invention provides a thermoresponsive nanoparticle useful for the stabilization of enzymes in environments having a temperature greater than thirty degrees Centigrade. The thermoresponsive nanoparticle has (a) a functionalized enzyme conjugate having one or more enzymes or biological catalysts, the enzymes or biological catalysts are modified with palmitic acid N-hydroxysuccinimide ester and acryclic acid N-hydroxysuccinimide ester, and (b) a thermally responsive polymer, wherein the functionalized enzyme conjugate is encapsulated within the thermally responsive polymer. A nanocatalyst is provided that has one or more proteins. The proteins are covalently immobilized and encapsulated within a thermally responsive polymer shell. The proteins are one or more enzymes or biological catalysts. A method for protecting the proteins is also set forth.
A61K 47/48 - Medicinal preparations characterised by the non-active ingredients used, e.g. carriers, inert additives the non-active ingredient being chemically bound to the active ingredient, e.g. polymer drug conjugates
C12N 9/96 - Stabilising an enzyme by forming an adduct or a compositionForming enzyme conjugates
A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.
The embodiments described herein generally relate to compositions and articles including dye compounds having desirable optical properties, and related methods. In some cases, the compositions and articles may possess advantageous optical properties, including various degrees of absorbance, emission, and/or transmission at particular wavelengths or ranges of wavelength. Embodiments described herein may be useful as optical filters in protective eyewear applications.
G03B 11/00 - Filters or other obturators specially adapted for photographic purposes
C07D 295/00 - Heterocyclic compounds containing polymethylene-imine rings with at least five ring members, 3-azabicyclo [3.2.2] nonane, piperazine, morpholine or thiomorpholine rings, having only hydrogen atoms directly attached to the ring carbon atoms
A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
A system for in situ charging of at least one rechargeable power source of a remote vehicle. The system comprises a power recharger having contacts configured to supply power to the at least one rechargeable power source, and a chassis adapter at least partially enclosing the at least one rechargeable power source and retaining the at least one rechargeable power source on the remote vehicle, the chassis adapter including terminals connected to the at least one rechargeable power source and configured to mate with the power recharger to allow the power recharger to recharge the at least one rechargeable power source. The chassis adapter comprises charger input contacts including a positive contact, a ground, and one or more data contacts. The power recharger automatically disengages from the recharging terminals when the remote vehicle is driven away from the chassis adapter without damaging the power recharger.
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from AC mains by converters
B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
A system for controlling a remote vehicle, the system comprising: a hand-held controller having a plurality of buttons; a display including a graphical user interface having soft buttons; and a processor in communication with the hand-held controller and the display. Buttons of the hand-held controller are mapped to soft buttons of the graphical user interface to allow actuation of soft buttons of the graphical user interface, and the hand-held controller is capable of switching between two or more button function modes, wherein each button function mode assigns different functions to one or more of the buttons of the hand-held controller.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
An image-based sensor system for a mobile unit makes use of light emitters and imagers to acquire illumination patterns of emitted light impinging on the floor and/or walls surrounding the unit. The illumination pattern is used to estimate location and/or orientation of the unit. These estimates are used for one or more functions of stabilization, calibration, localization, and mapping of or with respect to the unit.
Recoil mitigating devices and methods for use with projectile firing systems such as a disrupter mounted to a robotic arm. A pair of parallel spring provides dampening of axial recoil movement of the disrupter relative to the robotic arm. Forward ends of the springs are attachable to the barrel of the disrupter while rearward portions of the springs are attachable to the robotic arm by a robot mount block. The robot mount block at least partially encloses the barrel of the disrupter in connecting the parallel springs and permits axial movement of the disrupter along or through the mount during firing.
A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.
B62D 55/075 - Tracked vehicles for ascending or descending stairs
B60B 9/26 - Wheels of high resiliency comprising resilient spokes
B62D 55/088 - Endless-track unitsParts thereof with means to exclude or remove foreign matter e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
Mobile robot systems and methods are provided. At least one tracked mobile robot has a first end comprising a first pair of wheels, a second end comprising a second pair of wheels, an articulated arm coaxial with the first pair of wheels, and a driven support surface surrounding the first pair of wheels and the second pair of wheels. The at least one mobile robot surmounts obstacles and performs additional maneuvers alone and in combination with at least one other mobile robot.
B62D 55/04 - Endless-track vehicles with tracks and alternative ground wheels, e.g. changeable from endless-track vehicle into wheeled vehicle and vice versa
A method of operating a mobile robot that includes driving the robot according to a drive direction, determining a driven path of the robot from an origin, and displaying a drive view on a remote operator control unit in communication with the robot. The drive view shows a driven path of the robot from the origin. The method further includes obtaining global positioning coordinates of a current location of the robot and displaying a map in the drive view using the global positioning coordinates. The driven path of the robot is displayed on the map.
A method comprising running a persistent self-righting behavior comprising sensing an orientation of the remote vehicle and performing a progression of flipper movements until the remote vehicle is righted, and performing a retrotraverse behavior comprising: generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.
A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.
A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
Mobile robot systems and methods are provided. At least one tracked mobile robot has a first end comprising a first pair of wheels, a second end comprising a second pair of wheels, an articulated arm coaxial with the first pair of wheels, and a driven support surface surrounding the first pair of wheels and the second pair of wheels. The at least one mobile robot surmounts obstacles and performs additional maneuvers alone and in combination with at least one other mobile robot.
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
A method is disclosed for a robotic vehicle to climb a step. The robotic vehicle uses tracked flippers to engage the top of the step and drives with additional tracks other than the tracked flippers. The robotic vehicle also shifts and tilts a payload in order to move the CG of the payload ahead of the vehicle chassis and past the edge of the step.
A system for controlling a remote vehicle, the system comprising: a hand-held controller having a plurality of buttons; a display including a graphical user interface having soft buttons; and a processor in communication with the hand-held controller and the display. Buttons of the hand-held controller are mapped to soft buttons of the graphical user interface to allow actuation of soft buttons of the graphical user interface, and the hand-held controller is capable of switching between two or more button function modes, wherein each button function mode assigns different functions to one or more of the buttons of the hand-held controller.
A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
A system for providing enhanced operator control of a remote vehicle driving at increased speeds comprises: a head-mounted display configured to be worn by the operator and track a position of the operator's head; a head-aimed camera mounted to the remote vehicle via a pan/tilt mechanism and configured to pan and tilt in accordance with the position of the operator's head, the head-aimed camera transmitting video to be displayed to the operator via the head-mounted display; and a computer running a behavior engine, the computer receiving input from the operator and one or more sensors, and being configured to utilize the behavior engine, operator input, sensor input, and one or more autonomous and/or semi-autonomous behaviors to assist the operator in driving the remote vehicle. The remote vehicle includes releasably mounted wheels and high-friction tracks.
A robotic vehicle includes a chassis supported on right and left driven tracks, right and left elongated flippers disposed on corresponding sides of the chassis, and a battery unit holder disposed on the chassis for removably receiving a battery unit weighing at least 50 lbs. The battery unit holder includes a guide for receiving and guiding the battery unit to a connected position and a connector mount having locating features and communication features. The locating features receive corresponding locating features of the battery unit, as the battery unit is moved to its connected position, to align the communication features of the connector mount with corresponding communication features of the battery unit. The communication features of the connector mount are movable in a plane transverse to the guide to aid alignment of the communication features for establishment of an electrical connection therebetween when the battery unit is in its connected position.
A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).
The invention relates to a neutron detector for detection of neutrons in fields with significant γ- or β-radiation, comprising a neutron sensitive scintillator crystal, providing a neutron capture signal being larger than the capture signal of 3 MeV γ-radiation, a semiconductor based photo detector being optically coupled to the scintillator crystal, where the scintillator crystal and the semiconductor based photo detector are selected so that the total charge collection time for scintillator signals in the semiconductor based photo detector is larger than the total charge collection time for signals generated by direct detection of ionizing radiation in the semiconductor based photo detector, the neutron detector further comprising a device for sampling the detector signals, a digital signal processing device, means which distinguish direct signals from the semiconductor based photo detector, caused by γ- or β-radiation and being at least partially absorbed in the semiconductor based photo detector, from light signals entering the semiconductor based photo detector, after being emitted from the scintillator crystal after capturing at least one neutron, by means of pulse shape discrimination, utilizing a difference between the total charge collection time for scintillator signals from the total charge collection time for signals generated by direct detection of ionizing radiation in the semiconductor based photo detector, and means which distinguish neutron induced signals from γ-radiation induced signals in the scintillator crystal by discriminating the different signals via their pulse height, making use of the difference between the number of photons generated by neutron and γ-radiation in the field of interest.
A mobile robot (2) includes a robot chassis (6) having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface (12) to propel the robot (2) and first articulated arm (14) rotatable about an axis (16) located rearward of the center of gravity of the robot chassis. The arm (14) is pivotable to trail the robot (2), rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface (12) propels the chassis (6) forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot (2) endwise.
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
A collaborative engagement system comprises: at least two unmanned vehicles comprising an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track a target; and a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles, the controller facilitating data exchange via a common protocol. The collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles.
A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly.
A robotic vehicle including a chassis having front and rear ends, an electric power source supported by the chassis, and multiple drive assemblies supporting the chassis. Each drive assembly including a track trained about a corresponding drive wheel and a drive control module. The drive control module including a drive control housing, a drive motor carried by the drive control housing and operable to drive the track, and a drive motor controller in communication with the drive motor. The drive motor controller including a motor controller logic circuit and an amplifier commutator in communication with the drive motor and the motor controller logic circuit and is capable of delivering both amplified and reduced voltage to the drive motor from the power source. In one instance, the drive control module is separately and independently removable from a receptacle of the chassis as a complete unit.
A system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors. The system comprises: an operator control unit receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior; a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control unit; and a GPS receiver, an inertial measurement unit, and a navigation CPU on the remote vehicle. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior using input from the GPS receiver, the inertial measurement unit (IMU), and the navigation CPU.
A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
A robotic vehicle including a chassis having front and rear ends, an electric power source supported by the chassis, and multiple drive assemblies supporting the chassis. Each drive assembly including a track trained about a corresponding drive wheel and a drive control module. The drive control module including a drive control housing, a drive motor carried by the drive control housing and operable to drive the track, and a drive motor controller in communication with the drive motor. The drive motor controller including a signal processor and an amplifier commutator in communication with the drive motor and the signal processor and is capable of delivering both amplified and reduced power to the drive motor from the power source. In one instance, the drive control module is separately and independently removable from a receptacle of the chassis as a complete unit.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.
A sensor suite for a vehicle, the sensor suite comprising a 3D imaging system, a video camera, and one or more environmental sensors. Data from the sensor suite is combined to detect and identify threats during a structure clearing or inspection operation. Additionally, a method for detecting and identifying threats during a structure clearing or inspection operation. The method comprises: gathering 3D image data including object range, volume, and geometry; gathering video data in the same physical geometry of the 3D image; gathering non-visual environmental characteristic data; and combining and analyzing the gathered data to detect and identify threats.
A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.
A system and method for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, or for implementing remote vehicle autonomous behaviors. The system comprises an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior, and a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior.
A method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior. The method comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from normal operation, and revising strategies to achieve an operational goal of the remote vehicle to accommodate deviations from normal operation. An embedded simulation and training system for a remote vehicle. The system comprises a software architecture installed on the operator control unit and including software routines and drivers capable of carrying out mission simulations and training.
patents
