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91. 发明授权

US08565918B2 Torque control of underactuated tendon-driven robotic fingers 有权
标题翻译：欠肌腱驱动机器人手指的扭矩控制
公开(公告)号：US08565918B2
公开(公告)日：2013-10-22
申请号：US12720727
申请日：2010-03-10
申请人： Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Charles W. Wampler, II , Myron A. Diftler , Robert Platt , Lyndon Bridgwater
发明人： Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Charles W. Wampler, II , Myron A. Diftler , Robert Platt , Lyndon Bridgwater
IPC分类号： G06F19/00
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.
摘要翻译：机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的一个实施例中的接头半径。控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。控制器可以利用非对称关节半径来独立地命令关节扭矩。控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

92. 发明授权

US08535440B1 Method of promoting single crystal growth during melt growth of semiconductors 有权
标题翻译：在半导体熔融生长过程中促进单晶生长的方法
公开(公告)号：US08535440B1
公开(公告)日：2013-09-17
申请号：US12758169
申请日：2010-04-12
申请人： Ching-Hua Su
发明人： Ching-Hua Su
IPC分类号： C30B11/14
CPC分类号： C30B29/48 , C30B11/007
摘要： The method of the invention promotes single crystal growth during fabrication of melt growth semiconductors. A growth ampoule and its tip have a semiconductor source material placed therein. The growth ampoule is placed in a first thermal environment that raises the temperature of the semiconductor source material to its liquidus temperature. The growth ampoule is then transitioned to a second thermal environment that causes the semiconductor source material in the growth ampoule's tip to attain a temperature that is below the semiconductor source material's solidus temperature. The growth ampoule so-transitioned is then mechanically perturbed to induce single crystal growth at the growth ampoule's tip.
摘要翻译：本发明的方法在制造熔融生长半导体期间促进单晶生长。生长安瓿和其尖端具有放置在其中的半导体源材料。将生长安瓿放置在将半导体源材料的温度提高到其液相线温度的第一热环境中。然后将生长安瓿转变成使得生长安瓿尖端中的半导体源材料达到低于半导体源材料的固相线温度的温度的第二热环境。然后将如此转化的生长安瓿机械地扰动以在生长安瓿的尖端处诱导单晶生长。

93. 发明授权

US08502987B1 Method and apparatus for measuring near-angle scattering of mirror coatings 失效
标题翻译：用于测量镜面涂层的近角散射的方法和装置
公开(公告)号：US08502987B1
公开(公告)日：2013-08-06
申请号：US13018672
申请日：2011-02-01
申请人： Russell A. Chipman , Brian J. Daugherty , Stephen C. McClain , Steven A. Macenka
发明人： Russell A. Chipman , Brian J. Daugherty , Stephen C. McClain , Steven A. Macenka
IPC分类号： G01B9/02
CPC分类号： G01M11/005 , G01N21/474 , G01N2021/4735
摘要： Disclosed herein is a method of determining the near angle scattering of a sample reflective surface comprising the steps of: a) splitting a beam of light having a coherence length of greater than or equal to about 2 meters into a sample beam and a reference beam; b) frequency shifting both the sample beam and the reference beam to produce a fixed beat frequency between the sample beam and the reference beam; c) directing the sample beam through a focusing lens and onto the sample reflective surface, d) reflecting the sample beam from the sample reflective surface through a detection restriction disposed on a movable stage; e) recombining the sample beam with the reference beam to form a recombined beam, followed by f) directing the recombined beam to a detector and performing heterodyne analysis on the recombined beam to measure the near-angle scattering of the sample reflective surface, wherein the position of the detection restriction relative to the sample beam is varied to occlude at least a portion of the sample beam to measure the near-angle scattering of the sample reflective surface. An apparatus according to the above method is also disclosed.
摘要翻译：本文公开了一种确定样品反射表面的近角散射的方法，包括以下步骤：a）将具有大于或等于约2米的相干长度的光束分裂成样品光束和参考光束; b）对采样光束和参考光束进行频移，以在采样光束和参考光束之间产生固定拍频; c）将样品光束引导通过聚焦透镜和样品反射表面，d）通过设置在可移动台上的检测限制反射来自样品反射表面的样品光束; e）将样品光束与参考光束重新组合以形成重组光束，随后f）将重组光束引导到检测器并对重组光束执行外差分析以测量样品反射表面的近角散射，其中检测限制相对于样品光束的位置被改变以阻挡至少一部分样品光束以测量样品反射表面的近角散射。还公开了根据上述方法的装置。

94. 发明授权

US08492160B1 Biomarker sensors and method for multi-color imaging and processing of single-molecule life signatures 有权
标题翻译：生物标记传感器和多色成像和处理单分子生命特征的方法
公开(公告)号：US08492160B1
公开(公告)日：2013-07-23
申请号：US12720103
申请日：2010-03-09
申请人： Lawrence A. Wade , Charles Patrick Collier
发明人： Lawrence A. Wade , Charles Patrick Collier
IPC分类号： G01N1/28 , C12N13/00
CPC分类号： G01Q60/42 , G01Q80/00
摘要： The invention is a device including array of aciive regions for use in reacting one or more species in at least two of the active regions in a sequential process, e.g., sequential reactions. The device has a transparent substrate member, which has a surface region and a silane material overlying the surface region. A first active region overlies a first portion of the silane material. The first region has a first dimension of less than 1 micron in size and has first molecules capable of binding to the first portion of the silane material. A second active region overlies a second portion of the silane material. The second region has a second dimension of less than 1 micron in size, second molecules capable of binding to the second portion of the active region, and a spatial distance separates the first active region and the second active region.
摘要翻译：本发明是一种装置，其包括用于在顺序过程（例如顺序反应）中使至少两个活性区域中的一种或多种物质反应的活性区域的阵列。该装置具有透明基板部件，该基板部件具有覆盖在表面区域上的表面区域和硅烷材料。第一活性区域覆盖硅烷材料的第一部分。第一区域具有尺寸小于1微米的第一尺寸，并且具有能够结合硅烷材料的第一部分的第一分子。第二活性区域覆盖硅烷材料的第二部分。第二区域具有尺寸小于1微米的第二尺寸，能够结合有源区域的第二部分的第二分子，以及空间距离分离第一有源区域和第二有源区域。

95. 发明授权

US08483877B2 Workspace safe operation of a force- or impedance-controlled robot 有权
标题翻译：强制或阻抗控制机器人的工作区安全操作
公开(公告)号：US08483877B2
公开(公告)日：2013-07-09
申请号：US12875254
申请日：2010-09-03
申请人： Muhammad E. Abdallah , Brian Hargrave , John D. Yamokoski , Philip A. Strawser
发明人： Muhammad E. Abdallah , Brian Hargrave , John D. Yamokoski , Philip A. Strawser
IPC分类号： G05B19/18 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1633 , G05B2219/39505
摘要： A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.
摘要翻译：控制非结构化工作区内的力或阻抗控制的机器人的机器人操纵器的方法包括对由机械手施加到其周围环境的静力施加饱和极限，并且可以包括确定操纵器和操纵器之间的接触力对象在非结构化工作空间中，并且当接触力超过阈值时执行动态反射，从而减轻饱和受限静态力未解决的惯性冲击。该方法可以包括计算由关节致动器赋予机器人接头所需的反射扭矩。机器人系统包括具有非结构化工作空间的机器人操纵器和电连接到操纵器的控制器，并且其使用基于力或基于阻抗的命令来控制操纵器。这里也公开的控制器自动施加饱和极限并且可以执行上述动态反射。

96. 发明授权

US08443693B2 Rotary series elastic actuator 有权
标题翻译：旋转系列弹性执行机构
公开(公告)号：US08443693B2
公开(公告)日：2013-05-21
申请号：US13552957
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

97. 发明授权

US08424941B2 Robotic thumb assembly 有权
标题翻译：机器人拇指组装
公开(公告)号：US08424941B2
公开(公告)日：2013-04-23
申请号：US12564085
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
IPC分类号： B25J15/10 , B25J17/00
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20329
摘要： An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.
摘要翻译：提供了一种用于机器人手组件的改进的机器人拇指。根据本公开的一个方面，机器人拇指中的改进的腱路径仅提供五个腱的四个自由度的控制。根据本公开的另一方面，人体拇指的五个自由度中的一个在机器人拇指中被替换为具有趾骨形状的永久扭转。根据本公开的另一方面，一种位置传感器包括具有形状为具有不同中心点的圆形段的两个部分的磁体。磁铁提供了霍尔效应传感器的线性化输出。

98. 发明授权

US08378659B2 Structural health monitoring system/method using electroactive polymer fibers 有权
标题翻译：使用电活性聚合物纤维的结构健康监测系统/方法
公开(公告)号：US08378659B2
公开(公告)日：2013-02-19
申请号：US12703221
申请日：2010-02-10
申请人： Lisa A. Scott-Carnell , Emilie J. Siochi
发明人： Lisa A. Scott-Carnell , Emilie J. Siochi
IPC分类号： G01N27/00
CPC分类号： G01M5/0041 , G01M5/0083
摘要： A method for monitoring the structural health of a structure of interest by coupling one or more electroactive polymer fibers to the structure and monitoring the electroactive responses of the polymer fiber(s). Load changes that are experienced by the structure cause changes in the baseline responses of the polymer fiber(s). A system for monitoring the structural health of the structure is also provided.
摘要翻译：一种通过将一种或多种电活性聚合物纤维耦合到结构并监测聚合物纤维的电活性响应来监测感兴趣结构的结构健康的方法。结构经历的负荷变化导致聚合物纤维的基线响应的变化。还提供了一种用于监测结构的结构健康的系统。

99. 发明授权

US08369992B2 Embedded diagnostic, prognostic, and health management system and method for a humanoid robot 有权
标题翻译：人形机器人的嵌入式诊断，预测和健康管理系统和方法
公开(公告)号：US08369992B2
公开(公告)日：2013-02-05
申请号：US12564083
申请日：2009-09-22
申请人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
发明人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
IPC分类号： G05B19/00
CPC分类号： B25J9/1674 , G05B2219/39251 , G05B2219/40264
摘要： A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.
摘要翻译：机器人系统包括具有多个柔性接头的类人形机器人，每个机器人可以使用一个或多个致动器进行移动，并且具有用于测量控制和反馈数据的传感器。分布式控制器通过多个高速通信网络控制关节和其他集成系统组件。诊断，预后和健康管理（DPHM）模块嵌入机器人内的各种控制级别。每个DPHM模块在可通过网络或外部设备访问的位置测量，控制和记录相应控制级/连接设备的DPHM数据。一种控制机器人的方法包括使用DPHM模块在每个控制级别内测量DPHM数据，并将DPHM数据记录在可访问的位置上，将多个DPHM模块嵌入分布式控制器的多个控制级别内至少一个高速通信网络。

100. 发明授权

US08330961B1 Optical multi-species gas monitoring sensor and system 有权
标题翻译：光学多种气体监测传感器和系统
公开(公告)号：US08330961B1
公开(公告)日：2012-12-11
申请号：US12837173
申请日：2010-07-15
申请人： Kurt A. Polzin , Valentin Korman
发明人： Kurt A. Polzin , Valentin Korman
IPC分类号： G01B9/02
CPC分类号： G01J1/12 , G01J3/45 , G01J5/0014 , G01N21/31 , G01N21/45 , G01N2021/3185 , G01N2021/451
摘要： The system includes at least one light source generating light energy having a corresponding wavelength. The system's sensor is based on an optical interferometer that receives light energy from each light source. The interferometer includes a free-space optical path disposed in an environment of interest. The system's sensor includes an optical device disposed in the optical path that causes light energy of a first selected wavelength to continue traversing the optical path whereas light energy of at least one second selected wavelength is directed away from the optical path. The interferometer generates an interference between the light energy of the first selected wavelength so-traversing the optical path with the light energy at the corresponding wavelength incident on the optical interferometer. A first optical detector detects the interference. At least one second detector detects the light energy at the at least one second selected wavelength directed away from the optical path.
摘要翻译：该系统包括产生具有相应波长的光能的至少一个光源。该系统的传感器基于从每个光源接收光能的光学干涉仪。干涉仪包括设置在感兴趣的环境中的自由空间光路。系统的传感器包括设置在光路中的光学装置，其使得第一选定波长的光能继续穿过光路，而至少一个第二选定波长的光能被指向远离光路。所述干涉仪在所述第一选定波长的光能之间产生干涉，所述光能穿过所述光路，并且在入射到所述光学干涉仪上的相应波长处的光能量产生干涉。第一光检测器检测干扰。至少一个第二检测器检测到远离光路的至少一个第二选定波长的光能。

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