A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.
F41H 13/00 - Means of attack or defence not otherwise provided for
F42B 12/36 - Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for signalling
F42B 12/58 - Cluster or cargo ammunition, i.e. projectiles containing one or more submissiles
An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.
A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.
A61F 2/00 - Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
B62D 57/032 - 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 with alternately or sequentially lifted feet or skid
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B62D 57/02 - 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
6.
NON-INVASIVE METHOD AND DEVICE FOR MEASURING CARDIAC OUTPUT
A system comprising a housing containing a signal generator coupled to an antenna and a dielectric material disposed about the antenna. The device is adapted to generate and direct a plurality of signals towards the heart of the person and measure a magnitude of a signal returned from the heart. The device further comprises a processor to compare differences between a magnitude of a signal propagated and the magnitude of the signal returned off the heart and determine a signal frequency having a maximum return loss value based on those differences. The processor also estimates a change in the amplitude of motion of a portion of a wall of the heart based on the differences between the magnitude of the signal propagated by the device and the magnitude of the signal returned off of the portion of the heart.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/029 - Measuring blood output from the heart, e.g. minute volume
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
A remote operator console provides point and go navigation of a robotic vehicle. The remote operator console provides a display for visual representation of the environment in which the robotic vehicle is operating based on sensor information received from the robotic vehicle. An operator may designate a target point on the display. The robotic vehicle is automatically navigated toward a location in the environment corresponding to the designated target point.
A modular robotic crawler (10) can be formed by intercoupling a selected plurality of segment modules (12) from a preexisting collection of differing compatible segment modules (12). The segment modules (12) can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.
B62D 57/02 - 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
B62D 57/04 - 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 having other than ground-engaging propulsion means, e.g. having propellers
B65D 57/00 - Internal frames or supports for flexible articles, e.g. stiffeners; Separators for articles packaged in stacks or groups, e.g. for preventing adhesion of sticky articles
B62D 63/00 - Motor vehicles or trailers not otherwise provided for
9.
SERPENTINE ROBOTIC CRAWLER HAVING A CONTINOUS TRACK
A serpentine robotic crawler (10) includes an articulated body (12) having at least two body segments serially connected and a continuous track (18) operably supported along a perimeter of the articulated body (12). The serpentine robotic crawler (10) is capable of a variety of movement modes and poses.
B62D 57/02 - 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
The present invention describes, generally, a method and system for controlling the dynamics of an actuatable load functioning or operable within a servo or servo-type system, wherein the dynamics of the load are controlled by way of a unique asymmetric pressure control valve (10) configured to provide intrinsic pressure regulation. The asymmetric pressure control valve (10), which may be referred to as a dynamic pressure regulator because of its capabilities, utilizes different sized free floating spools that are physically independent of one another and freely supported in interior cavities of respective corresponding different sized valving components that make up the valve body (12) to regulate the pressures acting within the overall system between the control or pilot pressure and the load or load pressure. The dual spools of the pressure control valve (10), although physically independent of one another, function in cooperation with one another in an attempt to maintain a state of equilibrium in the system, namely to keep pressure acting on or within the actuator (the load pressure), or the feedback pressure corresponding to the load pressure, the same as the control or pilot pressure. Moreover, pressure regulation and control is intrinsic to the asymmetric pressure control valve (10) because of the configuration and function of the dual spools and the feedback system acting on the spools, thus eliminating the need for electronically or mechanically user controlled systems.
F15B 11/044 - Systems essentially incorporating special features for controlling the speed or the actuating force or speed of an output member for controlling the speed by means in the return line
F15B 11/042 - Systems essentially incorporating special features for controlling the speed or the actuating force or speed of an output member for controlling the speed by means in the feed line
G05D 16/10 - Control of fluid pressure without auxiliary power the sensing element being a piston or plunger
A rapid-fire external compression engine having an intake device configured to introduce a pre-compressed fuel-oxidizer mixture from an external source into a combustion chamber having a low-inertia rapid response component. The rapid response component is configured to extract a high percentage of the energy derived from the combustion of the pre-compressed fuel-oxidizer mixture and convert it into mechanical work, which may then be transformed via a variety of methods into usable output power to operate a powered device.
F02B 71/04 - Adaptations of such engines for special use; Combinations of such engines with apparatus driven thereby
F01L 1/28 - Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of valves co-operating with both intake and exhaust ports
F01L 25/00 - Drive, or adjustment during operation, of distribution or expansion valves by non-mechanical means
F02B 19/10 - Engines characterised by precombustion chambers with fuel introduced partly into pre-combustion chamber, and partly into cylinder
A method for modifying a plastic surface is disclosed. The method can include chemically reacting a polysilicone compound placed in contact with the plastic surface to form a silicon dioxide glass layer on the surface portion. The glass layer can be modified in a second process to create a desired surface property.
Varying modes of movement of a robotic crawler (10) are provided by using a variable mapping from high-level (operator input) primitives (42,64) into low-level primitives (46,70). The mapping is a function of environmental data (74,94) sensed by the robotic crawler (10) enabling the movement mode to be adapted to the environment.
Methods and devices for a miniature, ultra-low power impact recorder (24) for detecting, quantifying and recording the energy of an explosive blast or ballistic projectile impact. In one embodiment, the impact recorder can included a sensor (30) comprised of an array (32) of electromechanical resonators (34) that is sensitive to the vibrations produced in selected, discrete frequency ranges that approximate the spectral signature characteristics of the Shockwave resulting from the ballistic impact event (54), even after traveling through impacted material or body tissues.
G01P 15/04 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces for indicating maximum value
G01P 15/08 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values
G01P 15/09 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by piezoelectric pick-up
F41H 1/02 - Armoured or projectile- or missile-resistant garments; Composite protection fabrics
F41J 5/056 - Switch actuation by hit-generated mechanical vibration of the target body, e.g. using shock or vibration transducers
A method for manufacturing a complex structure from a two-dimensional layout, the method comprising: (a) obtaining a support plate (40) having a pre-determined, patterned recess (48) formed in a surface thereof; (b) depositing a first series of individual flexible interconnects (70) into the recess, the flexible interconnects being aligned parallel to one another in a common plane and supported by the support plate; (c) adhering, with adhering means, at least one rigid member (102) to each of the flexible interconnects of the first series; (d) adhering, with adhering means, a second series of individual flexible interconnects (132) to the rigid members to form a plurality of stations, wherein each of the second series of flexible interconnects is adhered to two rigid members of adjacent flexible interconnects of the first series, the flexible interconnects of the second series being formed perpendicular to the flexible interconnects of the first series; (e) curing the adhering means to form an assembled, layered structure; (f) removing the layered structure from the support plate; and (g) folding, systematically, the layered structure on itself and causing at least some of the stations to be supported about a central spine (160) in a segmented manner.
A miniature quantum fluid transfer system (10) configured to regulate the flow rate of a fluid by allowing passage of very small, discrete increments of fluid through the valve including a valve body having at least one inlet to receive fluid and at least one outlet to release fluid. The quantum fluid transfer system (10) includes a valve rod (98) movably disposed in a first chamber in the valve body. The valve rod (98) has a plurality of fluid passages (110) spaced longitudinally along.the valve rod (98), and the valve rod (98) is movable to align each fluid passage (110) with an inlet or outlet port (58, 122, 126, 130, 134) in the first chamber to allow fluid to flow through selected inlet or outlet ports (58, 122, 126, 130, 134) corresponding to selected fluid passages. The quantum fluid transfer system (10) has a plug (42, 74) movably disposed in a second chamber in the valve body. The plug (43, 74) is movable between a first end (18, 34, 102) and a second end (22, 106) of the second chamber, and moves toward the first or second end when a volume^of fluid enters the second chamber, and moves towards the first or second end when a volume of fluid enters the second chamber from the first chamber at the other of the first or second end. The plug (42, 74) pushes a corresponding volume of fluid out of the second chamber at the end opposite the end the fluid entered.
F16K 3/24 - Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with sealing faces shaped as surfaces of solids of revolution with cylindrical valve members
F16K 11/07 - Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves; Arrangement of valves and flow lines specially adapted for mixing fluid with all movable sealing faces moving as one unit comprising only sliding valves with linearly sliding closure members with cylindrical slides
F16K 31/363 - Operating means; Releasing devices actuated by fluid in which fluid from the conduit is constantly supplied to the fluid motor the fluid acting on a piston
17.
UNMANNED GROUND ROBOTIC VEHICLE HAVING AN ALTERNATIVELY EXTENDIBLE AND RETRACTABLE SENSING APPENDAGE
An unmanned robotic vehicle (10) is capable of sensing an environment at a location remote from the immediate area of the vehicle frame (18). The unmanned robotic vehicle (10) includes a retractable appendage (14) with a sensing element (16). The sensing element can include a camera, chemical sensor, optical sensor, force sensor, or the like.
A fluid control or actuation system providing selective recruiting of actuators antagonistic to one another to provide variable output power, such as that used to drive a load. The actuators are intended to comprise different sizes, and to be operable with one or more pressure control valves (10) capable of providing displacement of a non-recruited actuator without requiring active input to cause such displacement. Being able to selectively recruit different sized actuators to drive the load, and being able to displace non-recruited without active input, effectively incorporates a gearing function into the fluid control system.
An antagonistic fluid control system, wherein the system may comprise multiple antagonistic pressure control valves operable with a single actuator, or multiple pressure control valves operable with respective antagonistic actuators. The pressure control valves are configured to provide functional and efficiency advantages, and operate together to provide several operating or valving states. A first valving state comprises an active valving state configured to actively control the movement of the load. A second valving state comprises an inactive actuation state, wherein either the return and pressure (14, 16;18, 20) ports of one pressure control valve are closed, or only the return ports (14,1S) of one pressure control valve are opened, to allow the other pressure control valve to operate in an active valving state. A third valving state comprises a passive valving state, wherein the pressure control valves are operated in a slosh mode configured to allow the load to freely move or dangle. In this third passive valving state, or slosh mode, the return ports of the two pressure control valves are opened to allow fluid, and preferably local fluid, to shunt back and forth within the system.
A pilot valve configured to provide a control pressure within a dynamic fluid system, the pilot valve comprising: (a) a valve body having a supply port, a return port, and a control pressure port, the pressure control port in fluid communication with a subsequent valving component; (b) an axial bore formed in the valve body and in fluid communication with each of the supply, return, and control pressure ports; (c) a valve spool slidably supported within the axial bore of the valve body, the valve spool configured to control fluid flow through the supply, return, and control pressure ports, and to vary the rate of change of area of at least one of the supply and return pressure ports upon being displaced, thereby providing a variable resistance to fluid flowing therethrough and reducing the quiescent power of the pilot valve; and (d) means for displacing, in a selective manner, the valve spool within the axial bore about the supply, return, and control pressure ports to apportion fluid therethrough to provide a desired control pressure to the subsequent valving component. The pilot valve further comprises a feedback port formed in the valve body and in fluid communication with the control pressure port; and a feedback passage in fluid communication with the feedback port and a portion of the valve spool, the feedback passage configured to receive pressurized fluid therein to act against the valve spool to balance the forces acting on the valve spool from the motor.
A robot displacement device for use with a robotic frame shaped to approximate and be coupleable to at least a portion of the human body and configured to mimic movement of the human body The device employs a plurality of force sensors, which are attached to the robotic frame which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator Based on the output force signal from the sensors, and the force and direction of gravity relative to the robotic frame, a computation system calculates at least a rotational force required to maintain the controlling force status relationship The computation system then generates and transmits an actuation signal to a drive system attached to the robotic frame which displaces a portion of the robotic frame in order to maintain the controlling force status relationship
A tracked robotic crawler capable of multiple movement moves is disclosed. In. one embodiment, the tracked robotic crawler (10) includes at least one frame unit (12), the frame unit having a continuous track (14) rotatably coupled thereto. Disposed on the at least one frame unit is at least one articulated arm (18a, 18b), the arm being movable relative to the frame unit in at least one dimension. The articulated arm helps to improve mobility of the tracked robotic crawler in various environments.
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
B62D 57/028 - 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 having wheels and mechanical legs
23.
VERSATILE ENDLESS TRACK FOR LIGHTWEIGHT MOBILE ROBOTS
A versatile endless track system (10) for a lightweight robotic vehicle is disclosed. The versatile endless track system includes a flexible track (16) configured for threading about a plurality of track supports (12) of the lightweight robotic vehicle. A plurality of traction pads (18) including at least two different types of traction pads is disposed along the endless track. The different types of traction pads (20, 22) provide different ground-interfacing profiles designed to provide traction with respect to ground surfaces having different traction properties. Optionally, traction pads can be removable, allowing the versatile endless track to be reconfigured. 'A method of configuring a versatile endless track is also disclosed.
A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has a number of degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.
A suspension system (10) for a lightweight robotic crawler is disclosed. The Suspension system provides for mounting of a flexible endless track (18) thereon. The suspension system includes a forward guide (14) and a rearward guide (16) around which the endless track can be looped. A deflector (20) positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area (24) can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground- engaging portion of the endless track with respect to a supporting surface.
patents