Systems and methods for designing, testing, and validating a robotic system for space are provided. A system includes: a robotic manipulator; a dynamic system emulator configured to simulate a motion behaviour response of a first space robotic system based on forces and moments measured by the first robotic manipulator during physical interaction of the first robotic manipulator with a second robotic manipulator emulating motion behaviour of a second space robotic system; an arm controller configured to generate a manipulator tip reference trajectory command based on the motion behaviour response simulated by the dynamic system emulator and provide the manipulator tip reference trajectory command to the robotic manipulator; and an arm mechanism in the robotic manipulator configured to track a trajectory based on the manipulator tip reference trajectory command, such that the robotic manipulator emulates motion behaviour of the first space robotic system.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
2.
SYSTEMS, METHODS, AND DEVICES FOR NON-INVASIVE AND CONTINUOUS HEMODYNAMIC MEASUREMENT
Provided is a system, method, and device for non-invasive hemodynamic measurement of a subject. The method includes identifying vibrational pulses V1 and V2 and vibrations corresponding to cardiac mechanical motion from vibrational cardiography (VCG) data, the VCG data derived from a vibration signal acquired at the surface of the chest of the subject corresponding to cardiac-induced vibrations; determining a vibration feature from the vibration signal; and determining a hemodynamic measurement from the vibration feature.
A61B 5/021 - Mesure de la pression dans le cœur ou dans les vaisseaux sanguins
A61B 5/11 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre
A61B 5/113 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre se produisant au cours de la respiration
3.
REFUELING TOOL AND SYSTEM INCORPORATING THE REFUELING TOOL
The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool. Each of these tools includes a common base structure which is interfaced to the end effector of the robotic arm for transmitting rotation and torque to the various tools.
Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.
The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.
G01B 11/00 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques
A61B 1/04 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision
A61B 5/103 - Dispositifs de mesure pour le contrôle de la forme, du dessin, de la dimension ou du mouvement du corps ou de parties de celui-ci, à des fins de diagnostic
G01S 17/66 - Systèmes de poursuite utilisant d'autres ondes électromagnétiques que les ondes radio
Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.
B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
B23Q 3/155 - Agencements pour insérer ou retirer automatiquement les outils
B23Q 3/16 - Dispositifs permettant de maintenir, supporter ou positionner les pièces ou les outils, ces dispositifs pouvant normalement être démontés de la machine à commande liée au travail de l'outil
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B64F 5/00 - Tracé, fabrication, assemblage, nettoyage, entretien ou réparation des aéronefs, non prévus ailleursManipulation, transport, test ou inspection de composants d’aéronefs, non prévus ailleurs
The present invention provides an illuminator system comprising a dual reflector system and a linear light source. The dual reflector system comprises a primary and secondary generally cylindrical reflector, which collimate light from a linear light source in two planes. The linear light source may comprise many light emitting devices, and may emit light in a strobe or continuous fashion. The reflectors may be of many cylindrical shapes, and may include additional mirror segments to capture light otherwise not collimated. Further, the reflectors may be in various configurations of position and orientation with respect to one another, and may be adjustable in this respect. The system is more efficient than existing illuminators, is compact, all reflective (no colour), lightweight, simple and inexpensive to manufacture. The system has applications to many fields including machine vision, surveillance, spectroscopic inspection of materials, and converting linear light sources into rectangular beam spot lights.
The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end- effector acts as the interface between a multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis. The surgical manipulator may have up to seven (7) degrees of freedom by using up to four (4) right-angle drive mechanisms.
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
B25J 9/02 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes
The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refuelling procedure. The system may also be configured to be operated autonomously under computer control.
B67D 7/04 - Appareils ou dispositifs pour transférer des liquides à partir de récipients ou de réservoirs de stockage en vrac vers des véhicules ou des récipients portables, p. ex. pour la vente au détail pour transférer des carburants, des lubrifiants ou leurs mélanges
B67D 7/08 - Aménagements des dispositifs pour commander, indiquer, mesurer ou enregistrer la quantité ou le prix du liquide transféré
B67D 7/36 - Aménagements des vannes de commande du débit ou de la pression
F16B 2/18 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif utilisant des cames, des leviers, des excentriques ou des rotules
F16K 31/46 - Moyens mécaniques d'actionnement pour un fonctionnement à distance
G05B 15/02 - Systèmes commandés par un calculateur électriques
11.
SURGICAL MANIPULATOR WITH RIGHT-ANGLE PULLEY DRIVE MECHANISMS
The present invention provides a surgical manipulator (400) including a manipulator arm (408), an end-effector (428) held by the robotic arm, surgical tools (430, 560, 630, 700) held by the end-effector (428) and manipulator joints, particularly right-angle drive devices (10) for transmitting rotational motion in one axis to a perpendicular axis to provide a compact and light weight surgical manipulator.
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.
B60W 10/18 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de freinage
B60W 10/04 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion
B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
B60W 40/12 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés à des paramètres du véhicule lui-même
E21F 13/00 - Transport spécialement adapté aux conditions du fond
G05B 19/42 - Systèmes d'enregistrement et de reproduction, c.-à-d. dans lesquels le programme est enregistré à partir d'un cycle d'opérations, p. ex. le cycle d'opérations étant commandé à la main, après quoi cet enregistrement est reproduit sur la même machine
13.
TRAFFIC MANAGEMENT SYSTEM FOR A PASSAGEWAY ENVIRONMENT
The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment. Finally, real-time localization is provided by employing odometric sensors and range sensing devices to determine the system's global position and orientation with respect to said globally consistent map, both initially and as it travels through the passageway environment. A route planning method accepts higher-level goals for a set of multiple vehicles in said passageway environment and generates a route plan for each vehicle that minimizes the travel time for the group of vehicles, while at the same time avoiding collisions between vehicles. Route plans are sent to the vehicles for implementation and a monitoring method tracks the global positions and orientations of the vehicles and ensures that both safety and efficiency are maintained.
G08G 1/01 - Détection du mouvement du trafic pour le comptage ou la commande
G01C 23/00 - Instruments combinés indiquant plus d’une valeur de navigation, p. ex. pour l’aviationDispositifs de mesure combinés pour mesurer plusieurs variables du mouvement, p. ex. la distance, la vitesse ou l’accélération
E21F 13/02 - Transport spécialement adapté aux conditions du fond dans les galeries
G08G 1/127 - Systèmes de commande du trafic pour véhicules routiers indiquant la position de véhicules, p. ex. de véhicules à horaire déterminé à une station centrale
G08G 1/13 - Systèmes de commande du trafic pour véhicules routiers indiquant la position de véhicules, p. ex. de véhicules à horaire déterminé à une station centrale l'indicateur étant sous la forme d'une carte
brevets
