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1. 发明授权

US4739241A Spherical motor particularly adapted for robotics 失效
标题翻译：球面电机特别适用于机器人
公开(公告)号：US4739241A
公开(公告)日：1988-04-19
申请号：US916823
申请日：1986-10-09
申请人： George J. Vachtsevanos , Kent R. Davey
发明人： George J. Vachtsevanos , Kent R. Davey
IPC分类号： B25J17/02 , H02K41/02 , H02P5/34
CPC分类号： H02K41/031 , B25J17/0266 , B25J17/0275 , H02K2201/18
摘要： A spherical motor particularly adapted for robotic control. The motor comprises a stator housing defining a semispherical socket having an opening of generally polar cap form with a spherical rotor rotatably received in the socket for rotation therein about three axes intersecting at the center of the rotor with one of the axes projecting through the opening and the other two axes being orthogonal thereto. A motion transmitter is carried by the rotor and aligned generally along one axis to project through the opening, and windings are carried by the stator housing in encompassing and in opposed relation to the rotor for rotating the rotor about the axis. A polyphase control selectively controls relative phase and energization of the windings to rotate the spherical rotor a substantially unlimited amount about one axis and in limited amounts about the other axes so as to maintain the motion transmitting member within the confines of the opening.
摘要翻译：特别适用于机器人控制的球面马达。电动机包括限定半球形插座的定子壳体，其具有大致极性盖形式的开口，球形转子可旋转地容纳在插座中，用于围绕与转子中心相交的三个轴线旋转，其中一个轴突出穿过开口，其他两个轴正交。运动变送器由转子承载并且大致沿着一个轴线排列以突出通过开口，并且绕组由定子壳体承载，包围并与转子相对，用于围绕轴线转动转子。多相控制选择性地控制绕组的相对相位和通电，以使球形转子围绕一个轴线旋转基本上无限量的量并且围绕其它轴线以有限的量旋转，以便将运动传递部件保持在开口的范围内。

2. 发明授权

US06269179B1 Inspection system and method for bond detection and validation of surface mount devices using sensor fusion and active perception 失效
标题翻译：使用传感器融合和主动感知的表面贴装装置的粘合检测和验证的检查系统和方法
公开(公告)号：US06269179B1
公开(公告)日：2001-07-31
申请号：US09093685
申请日：1998-06-09
申请人： George J. Vachtsevanos , Iqbal M. Dar
发明人： George J. Vachtsevanos , Iqbal M. Dar
IPC分类号： G06K900
CPC分类号： G06T7/0004 , G01N21/88 , G01N21/95684 , G01N25/72 , G01N2021/8867 , G06T7/0006 , G06T2207/10048 , G06T2207/20036 , G06T2207/30152
摘要： A hybrid surface mount component inspection system which includes both vision and infrared inspection techniques to determine the presence of surface mount components on a printed wiring board, and the quality of solder joints of surface mount components on printed wiring boards by using data level sensor fusion to combine data from two infrared sensors to obtain emissivity independent thermal signatures of solder joints, and using feature level sensor fusion with active perception to assemble and process inspection information from any number of sensors to determine characteristic feature sets of different defect classes to classify solder defects.
摘要翻译：一种混合表面安装部件检查系统，其包括视觉和红外检查技术，以确定印刷线路板上表面安装部件的存在，以及印刷线路板上的表面安装部件的焊点的质量，通过使用数据级传感器熔接组合来自两个红外传感器的数据以获得焊点的发射率独立热特征，并且使用具有主动感知的特征级传感器融合来组装和处理来自任何数量的传感器的检测信息，以确定不同缺陷类别的特征特征集以分类焊料缺陷。

3. 发明授权

US5936665A Automated apparatus for counting pillings in textile fabrics 失效
标题翻译：用于计数纺织品中药片的自动化设备
公开(公告)号：US5936665A
公开(公告)日：1999-08-10
申请号：US859443
申请日：1997-05-20
申请人： George J. Vachtsevanos , Iqbal M. Dar , Waqar Mahmood
发明人： George J. Vachtsevanos , Iqbal M. Dar , Waqar Mahmood
IPC分类号： G01N21/89 , G01N21/898 , G06M1/10 , G06M11/00 , G06T7/00 , H04N7/18
CPC分类号： G01N21/8903 , G01N21/8983 , G06M1/101 , G06M11/00 , G06T7/001 , G06T2207/20021 , G06T2207/20048 , G06T2207/30124
摘要： An automated system and associated method of counting pillings in textile fabrics. Images of consecutive sections of a fabric sample are captured by a CCD camera. A system processor then processes the images to enhance image quality. Pillings on the processed, captured fabric sample images are counted, and the resulting data is fuzzified to determine the membership of the data in one or more of a plurality of fabric classes. The present invention provides an objective rating system and method with repeatable accuracy for fabric samples that eliminates the inherent subjectivity associated with conventional manual visual fabric inspection methods.
摘要翻译：一种自动化系统和相关方法，用于计数纺织品中的药丸。织物样品的连续部分的图像由CCD相机捕获。然后，系统处理器处理图像以增强图像质量。计数经处理的捕获的织物样品图像上的填充物，并且将所得到的数据模糊化以确定多个织物类别中的一个或多个中的数据的成员资格。本发明提供了一种对织物样品具有可重复精度的客观评价系统和方法，其消除了与常规手动视觉织物检查方法相关联的固有主观性。

4. 发明授权

US5815198A Method and apparatus for analyzing an image to detect and identify defects 失效
标题翻译：用于分析图像以检测和识别缺陷的方法和装置
公开(公告)号：US5815198A
公开(公告)日：1998-09-29
申请号：US657023
申请日：1996-05-31
申请人： George J. Vachtsevanos , Muid Mufti , J. Lewis Dorrity
发明人： George J. Vachtsevanos , Muid Mufti , J. Lewis Dorrity
IPC分类号： G01N21/88 , G06T7/00 , H04N7/18
CPC分类号： G06T7/001 , G01N21/88 , G06T2207/20064 , G06T2207/20068 , G06T2207/30124
摘要： The Invention includes a method and apparatus which analyzes an image of an object to detect and identify defects in the object. The present invention utilizes a scanning technique which converts a 2-D image of the object into a 1-D image, a transformation technique which extracts relevant features from the image, and a fuzzy inferencing technique which utilizes the features generated by the transformation technique to detect and identify defects. The present invention preferably includes an off-line learning process which selects the optimum transform coefficients for a given set of defects and stores the corresponding features in a rulebase. Preferably, the wavelet transform is used as the transformation technique to provide an analysis of the image which is localized in the frequency and time domains. The present invention may also include an on-line learning process when the present invention is incorporated into a manufacturing process for real time inspection of the object being manufactured. The on-line learning process attempts to nullify the effects of noise which may be associated with the image sensors being used to read the image by using a similarity function to maintain a predetermined level of fuzziness of the inference engine of the present invention.
摘要翻译：本发明包括分析对象的图像以检测和识别对象中的缺陷的方法和装置。本发明利用将物体的二维图像转换成1-D图像的扫描技术，从图像中提取相关特征的变换技术以及利用转换技术生成的特征的模糊推理技术检测和识别缺陷。本发明优选地包括离线学习过程，其为给定的缺陷集合选择最佳变换系数并将相应的特征存储在规则库中。优选地，使用小波变换作为变换技术来提供局部在频域和时域中的图像的分析。本发明还可以包括在将本发明并入用于对所制造的物体进行实时检查的制造过程中的在线学习过程。在线学习过程试图通过使用相似度函数来保持预定水平的本发明推理机的模糊性来消除可能与用于读取图像的图像传感器相关联的噪声的影响。

5. 发明授权

US5241163A Article identification apparatus and method using a ferromagnetic tag 失效
标题翻译：使用铁磁标签的物品识别装置和方法
公开(公告)号：US5241163A
公开(公告)日：1993-08-31
申请号：US719847
申请日：1991-06-24
申请人： George J. Vachtsevanos , Kent Davey
发明人： George J. Vachtsevanos , Kent Davey
IPC分类号： G06K7/08
CPC分类号： G06K7/084
摘要： Information is encoded on tags preferably in a form emulating conventional bar coding, in which ferromagnetic strips correspond to bars and nonferromagnetic spaces correspond to the absence of bars. The tags thus can be embedded within an article or otherwise concealed from visual scanning or inspection. The tags are read by scanning with a magnetic reader including an excitation coil and a pickup coil. Relative movement between the tags and the scanner induces a signal in the pickup coil only when a bar is scanned, so that the phase and timing of the induced signals contain information corresponding to the relative placement and width of the ferromagnetic bars and strips. Those signals are processed to provide an output signal emulating the output from a conventional optical bar code scanner.
摘要翻译：信息被编码在标签上，优选地以模拟常规条形码的形式编码，其中铁磁条对应于条，并且非铁磁空间对应于不存在条。因此，标签可以嵌入在物品内或以其它方式隐藏在视觉扫描或检查中。通过使用包括励磁线圈和拾取线圈的磁性读取器扫描来读取标签。标签和扫描仪之间的相对运动仅在扫描条形时才引起拾取线圈中的信号，使得感应信号的相位和定时包含对应于铁磁条和条带的相对位置和宽度的信息。处理这些信号以提供仿真来自常规光学条形码扫描器的输出的输出信号。

6. 发明授权

US5963662A Inspection system and method for bond detection and validation of surface mount devices 失效
标题翻译：表面贴装装置的检测和检测方法
公开(公告)号：US5963662A
公开(公告)日：1999-10-05
申请号：US753181
申请日：1996-11-20
申请人： George J. Vachtsevanos , Iqbal M. Dar , Kimberly E. Newman , Erin Sahinci
发明人： George J. Vachtsevanos , Iqbal M. Dar , Kimberly E. Newman , Erin Sahinci
IPC分类号： G01N21/88 , G01N21/956 , G01N25/72 , G06T7/00 , G01N21/71 , G06T5/20
CPC分类号： G06T7/0004 , G01N21/88 , G01N21/95684 , G01N25/72 , G06T7/0006 , G01N2021/8867 , G06T2207/10048 , G06T2207/20036 , G06T2207/30152
摘要： A hybrid surface mount component inspection system which includes both vision and infrared inspection techniques to determine the presence of surface mount components on a printed wiring board, and the quality of solder joints of surface mount components on printed wiring boards by using data level sensor fusion to combine data from two infrared sensors to obtain emissivity independent thermal signatures of solder joints, and using feature level sensor fusion with active perception to assemble and process inspection information from any number of sensors to determine characteristic feature sets of different defect classes to classify solder defects.
摘要翻译：一种混合表面安装部件检查系统，其包括视觉和红外检查技术，以确定印刷线路板上表面安装部件的存在，以及印刷线路板上的表面安装部件的焊点的质量，通过使用数据级传感器熔接组合来自两个红外传感器的数据以获得焊点的发射率独立热特征，并且使用具有主动感知的特征级传感器融合来组装和处理来自任何数量的传感器的检测信息，以确定不同缺陷类别的特征特征集以分类焊料缺陷。

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