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1. 发明申请

US20060138977A1 Method and apparatus for precise positioning of an object with linear stepper motors 失效
标题翻译：用线性步进电机精确定位物体的方法和装置
公开(公告)号：US20060138977A1
公开(公告)日：2006-06-29
申请号：US11285228
申请日：2005-11-21
申请人： Nenad Kircanski , Amir Sadri , Milija Timotijevic , Zhiliang Xu , Manja Kircanski , Neven Nikolic
发明人： Nenad Kircanski , Amir Sadri , Milija Timotijevic , Zhiliang Xu , Manja Kircanski , Neven Nikolic
IPC分类号： H02K41/00
CPC分类号： H02K41/033 , H02K2201/18
摘要： Methods and apparatus for precise positioning of an object using linear actuators based on linear stepper motors operating in microstepping or full step mode, a control algorithm based on compensation table, and a calibration apparatus for obtaining the compensation table.
摘要翻译：基于在微步或全步模式下工作的线性步进电机的线性致动器，基于补偿表的控制算法和用于获得补偿表的校准装置来精确定位物体的方法和装置。

2. 发明申请

US20080216698A1 MICRODOT PRINTING HEAD 审中-公开
标题翻译： MICRODOT印刷头
公开(公告)号：US20080216698A1
公开(公告)日：2008-09-11
申请号：US11682743
申请日：2007-03-06
申请人： Amir Sadri , Nenad Kircanski
发明人： Amir Sadri , Nenad Kircanski
IPC分类号： B41M3/00 , B01J19/00
CPC分类号： B01L3/0251
摘要： A microdot printing head containing hollow pins as reservoirs for biological samples is manufactured with a high degree of accuracy in the spacing of the hollow pins by press fitting the pins into bushings at precisely dimensioned end sections in the bores of the bushings, and receiving the bushings into a common support block.
摘要翻译：包含中空销作为生物样品的储存器的微型打印头通过将销钉压配合到衬套的孔中的精确尺寸的端部的衬套中，以高精度地制造中空销的间隔，并且接收套管成为共同的支持块。

3. 发明授权

US07262575B2 Method and apparatus for precise positioning of an object with linear stepper motors 失效
标题翻译：用线性步进电机精确定位物体的方法和装置
公开(公告)号：US07262575B2
公开(公告)日：2007-08-28
申请号：US11285228
申请日：2005-11-21
申请人： Nenad Kircanski , Amir Sadri , Milija Timotijevic , Zhiliang Xu , Manja Kircanski , Neven Nikolic
发明人： Nenad Kircanski , Amir Sadri , Milija Timotijevic , Zhiliang Xu , Manja Kircanski , Neven Nikolic
IPC分类号： G05B19/40
CPC分类号： H02K41/033 , H02K2201/18
摘要： Methods and apparatus for precise positioning of an object using linear actuators based on linear stepper motors operating in microstepping or full step mode, a control algorithm based on compensation table, and a calibration apparatus for obtaining the compensation table.
摘要翻译：基于在微步或全步模式下工作的线性步进电机的线性致动器，基于补偿表的控制算法和用于获得补偿表的校准装置来精确定位物体的方法和装置。

4. 发明授权

US08798950B2 System and method for ultrasonic transducer control 有权
标题翻译：超声波换能器控制系统及方法
公开(公告)号：US08798950B2
公开(公告)日：2014-08-05
申请号：US12860226
申请日：2010-08-20
申请人： Neven Nikolic , Manja Kircanski , Nenad Kircanski , Amir M. Sadri , Milija Timotijevic , Zhiliang Xu
发明人： Neven Nikolic , Manja Kircanski , Nenad Kircanski , Amir M. Sadri , Milija Timotijevic , Zhiliang Xu
IPC分类号： G06F17/00 , B06B1/02 , H01L41/04
CPC分类号： B06B1/0253 , H01L41/042
摘要： A system for controlling an ultrasonic transducer utilizes an indication of the relative phase of the voltage on the transducer and the current passing through the transducer to control the relative phase to a value that has been preselected to correspond to resonance of an electromechanical system that includes the ultrasonic transducer. In one example application, the system includes a waveform generator that produces an oscillating signal, and the frequency of the oscillating signal is adjustable under control of the control processor. The control processor adjusts the frequency of the oscillating signal according to a proportional control law at least some of the time, and according to a proportional-integral control law at least some of the time. The control processor may also control the amplitude of the oscillation of the ultrasonic transducer.
摘要翻译：用于控制超声波换能器的系统利用传感器上的电压和通过换能器的电流的相对相位的指示，以将相对相位控制为已经被预选为对应于机电系统的共振的值，该机电系统的谐振包括超声波换能器。在一个示例应用中，系统包括产生振荡信号的波形发生器，并且在控制处理器的控制下振荡信号的频率是可调节的。控制处理器至少在一些时间根据比例控制规律调节振荡信号的频率，并且至少在一些时间根据比例积分控制律。控制处理器还可以控制超声换能器的振荡幅度。

5. 发明申请

US20110130560A1 SONICATION CARTRIDGE FOR NUCLEIC ACID EXTRACTION 审中-公开
标题翻译：用于核酸提取的透明盒
公开(公告)号：US20110130560A1
公开(公告)日：2011-06-02
申请号：US12788777
申请日：2010-05-27
申请人： Amir M. Sadri , Nenad Kircanski , Manja Kircanski , Neven Nikolic , Milija Timotijevic
发明人： Amir M. Sadri , Nenad Kircanski , Manja Kircanski , Neven Nikolic , Milija Timotijevic
IPC分类号： C07H1/00 , B01F11/02
CPC分类号： C12N13/00
摘要： A cartridge in which sonication is applied to biological matter to disrupt and release nucleic acids from the matter is formed from a cartridge body containing a series of wells connected by fluid passages engineered to prevent backflow, with at least one well containing a sonication window covered by a thin lamina to transmit sonic vibrations from a sonication horn contacting the exterior surface of the window. Fluid transport among the wells is achieved by pressure differentials through the fluid passages, and a succession of functions is performed in the various wells, including disruption, mixing, binding of the released nucleic acids to binding materials, washing, elution, and collection.
摘要翻译：其中超声处理应用于生物物质以破坏和释放核酸的药筒由药筒形成，该药筒包含一系列通过设计用于防止回流的流体通道连接的孔，其中至少一个孔包含超声处理窗口一个薄层，从与窗户外表面接触的超声处理喇叭传播声音振动。通过流体通道的压差来实现孔之间的流体输送，并且在各种孔中执行一系列功能，包括破坏，混合，释放的核酸与结合材料的结合，洗涤，洗脱和收集。

6. 发明授权

US06347259B1 High precision positioning device and method of operating same 失效
标题翻译：高精度定位装置及其操作方法
公开(公告)号：US06347259B1
公开(公告)日：2002-02-12
申请号：US09283150
申请日：1999-04-01
申请人： Andrew A. Goldenberg , Nenad Kircanski , Prakash Naidu
发明人： Andrew A. Goldenberg , Nenad Kircanski , Prakash Naidu
IPC分类号： G06F700
CPC分类号： G05B19/404 , G05B19/401
摘要： A high precision positioning device includes an end effector and a platen spaced therebelow for receiving a workpiece. One of the end effector and the platen is moveable in the X-Y plane. One of the end effector and the platen is moveable in the Z direction. The device includes senors for sensing the position of the end effector in the X, Y and Z directions relative to the platen. The apparatus includes a control system for controlling the movement of the end effector relative to the platen and adjusting the position of the end effector relative to the X. Y and Z position as sensed by the sensors. Preferably the platen is generally parallel to the X-Y plane and the Z direction is normal to the platen. Preferably the control system uses a position, velocity and acceleration control system for controlling the movement in the X and Y direction and an impedance control system for controlling the movement in the Z direction. The method of operating the high precision positioning device uses a host computer and an embedded computer. The method includes the steps of receiving and checking data; sending and decoding the checked data and determining when a move command appears; instructing a move command and determining set-point data for the move command; sending set-point data to regulator task module and sending data from the positional sensors to the regulator task module; determining the control parameters in the regulator task module and activating the motors to move the end effector.
摘要翻译：高精度定位装置包括末端执行器和在其下方间隔开的用于接收工件的压板。端部执行器和压板中的一个可在X-Y平面中移动。端部执行器和压板中的一个可在Z方向上移动。该装置包括用于感测端部执行器相对于压板的X，Y和Z方向上的位置的传感器。该装置包括控制系统，用于控制端部执行器相对于压板的移动，并且调节端部执行器相对于由传感器感测的X.Y和Z位置的位置。优选地，压板大致平行于X-Y平面并且Z方向垂直于压板。优选地，控制系统使用位置，速度和加速度控制系统来控制X和Y方向上的运动，以及阻抗控制系统，用于控制在Z方向上的移动。操作高精度定位装置的方法使用主计算机和嵌入式计算机。该方法包括接收和检查数据的步骤; 发送和解码所检查的数据并确定何时出现移动命令; 指示移动命令并确定移动命令的设定点数据; 将设定点数据发送到调节器任务模块，并将数据从位置传感器发送到调节器任务模块; 确定调节器任务模块中的控制参数并激活电机以移动末端执行器。

7. 发明申请

US20120046765A1 SYSTEM AND METHOD FOR ULTRASONIC TRANSDUCER CONTROL 有权
标题翻译：超声波传感器控制系统与方法
公开(公告)号：US20120046765A1
公开(公告)日：2012-02-23
申请号：US12860226
申请日：2010-08-20
申请人： Neven Nikolic , Manja Kircanski , Nenad Kircanski , Amir M. Sadri , Milija Timotijevic , Zhiliang Xu
发明人： Neven Nikolic , Manja Kircanski , Nenad Kircanski , Amir M. Sadri , Milija Timotijevic , Zhiliang Xu
IPC分类号： G06F17/00
CPC分类号： B06B1/0253 , H01L41/042
摘要： A system for controlling an ultrasonic transducer utilizes an indication of the relative phase of the voltage on the transducer and the current passing through the transducer to control the relative phase to a value that has been preselected to correspond to resonance of an electromechanical system that includes the ultrasonic transducer. In one example application, the system includes a waveform generator that produces an oscillating signal, and the frequency of the oscillating signal is adjustable under control of the control processor. The control processor adjusts the frequency of the oscillating signal according to a proportional control law at least some of the time, and according to a proportional-integral control law at least some of the time. The control processor may also control the amplitude of the oscillation of the ultrasonic transducer.
摘要翻译：用于控制超声波换能器的系统利用传感器上的电压和通过换能器的电流的相对相位的指示，以将相对相位控制为已经被预选为对应于机电系统的共振的值，该机电系统的谐振包括超声波换能器。在一个示例应用中，系统包括产生振荡信号的波形发生器，并且在控制处理器的控制下振荡信号的频率是可调节的。控制处理器至少在一些时间根据比例控制规律调节振荡信号的频率，并且至少在一些时间根据比例积分控制律。控制处理器还可以控制超声换能器的振荡幅度。

8. 发明授权

US06353774B1 High precision vision guided positioning device 失效
标题翻译：高精度视觉引导定位装置
公开(公告)号：US06353774B1
公开(公告)日：2002-03-05
申请号：US09667670
申请日：2000-09-22
申请人： Andrew A. Goldenberg , Nenad Kircanski , Sasan Raghibizadeh
发明人： Andrew A. Goldenberg , Nenad Kircanski , Sasan Raghibizadeh
IPC分类号： G06F1900
CPC分类号： G01N35/1074 , B25J9/026 , B25J19/023 , G01N35/0099 , G01N35/028 , G01N35/109 , G01N2035/1037 , Y10T29/49831 , Y10T29/53004
摘要： A positioning device includes a gantry robot and an elevator unit. The gantry robot includes a head assembly, a work-space spaced below the head assembly for receiving at least one tray and a device for moving the head assembly in the X, Y and Z directions. The gantry robot further includes a device for scanning the work-space. The elevator unit has a plurality of shelves arranged in a series one above another. Each shelf is adapted to receive at least one tray and the shelves are movable in the Z direction. A device for moving a tray between the elevator unit and the work-space is included. A control system for controlling the movement of the head assembly in the X, Y and Z direction, for controlling the movement of the shelves in the Z direction and for controlling the tray moving device is operably connected to the gantry robot and the elevator unit.
摘要翻译：定位装置包括龙门机器人和电梯单元。台架机器人包括头部组件，在头部组件下方间隔开的用于容纳至少一个托盘的工作空间和用于在X，Y和Z方向上移动头部组件的装置。龙门机器人还包括用于扫描工作空间的装置。电梯单元具有多个彼此串联布置的搁架。每个搁板适于容纳至少一个托盘，并且搁架可在Z方向上移动。包括用于在电梯单元和工作空间之间移动托盘的装置。用于控制头部组件在X，Y和Z方向上的运动的控制系统，用于控制搁架在Z方向上的运动和用于控制托盘移动装置，可操作地连接到台架机器人和电梯单元。

9. 发明授权

US06333631B1 Cantilevered manipulator for autonomous non-contact scanning of natural surfaces for the deployment of landmine detectors 有权
标题翻译：用于自然非接触扫描自然表面以用于部署地雷探测器的悬臂操纵器
公开(公告)号：US06333631B1
公开(公告)日：2001-12-25
申请号：US09263060
申请日：1999-03-08
申请人： Yogadish Das , Kevin Russell , Nenad Kircanski , Andrew Goldenberg
发明人： Yogadish Das , Kevin Russell , Nenad Kircanski , Andrew Goldenberg
IPC分类号： G01V308
CPC分类号： F41H11/12 , G01V3/15
摘要： Apparatus and method is provided for performing detailed mine detection over variable terrain. An articulated robotic scanner comprises an articulated arm mounted to any vehicle such as a robot. One or more mine detectors mounted at the end of the arm. The arm operates autonomously to repetitively sweep the mine detector in ever forward advancing side-to-side arcs over the terrain. The vehicle can operate autonomously or be tele-operated. The position of the mine detector is monitored and known with respect to a known coordinate system. Sensors measure their position relative to the ground and relative to known co-ordinates of the mine detector. A controller determines the relative position of the ground and the mine detector and dynamically adjusts the mine detector's position to maintain a constant separation over variable terrain without ever contacting the ground or objects thereon.
摘要翻译：提供了用于在可变地形上进行详细的地雷检测的装置和方法。铰接式机器人扫描器包括安装到诸如机器人的任何车辆的铰接臂。安装在手臂末端的一个或多个探雷器。手臂自动运行，可以重复地扫射地雷探测器，从而在地形上前后移动。车辆可以自主操作或远程操作。相对于已知的坐标系来监测和知道矿山检测器的位置。传感器测量其相对于地面和相对于矿井检测器已知坐标的位置。控制器确定地面和矿山检测器的相对位置，并动态调整矿山检测器的位置，以保持在可变地形上的恒定分离，而无需接触地面或物体。

10. 发明授权

US06322508B1 Automated meat grading method and apparatus 失效
标题翻译：自动肉分级方法和装置
公开(公告)号：US06322508B1
公开(公告)日：2001-11-27
申请号：US09121186
申请日：1998-07-23
申请人： Andrew A. Goldenberg , Nenad Kircanski , Ziren Lu
发明人： Andrew A. Goldenberg , Nenad Kircanski , Ziren Lu
IPC分类号： A61B800
CPC分类号： A22B5/007
摘要： The present invention relates to an automated grading process and apparatus for grading an animal carcass. The process includes the steps of generating and receiving signals; determining the location of the ribs in the carcass therefrom; determining a predetermined reference point on the carcass; determining a probing location; and probing the carcass. As an example the predetermined reference point may be the first rib and the probe location may be between the third and fourth ribs. The present invention also includes a method for determining the location of the ribs and a method for determining the first rib. The apparatus includes a base, a clamping sub-system for positioning the carcass and a sensing-probing subsystem. The sensing-probing subsystem includes a signal generator and a signal receiver each directed at the clamped carcass; a method of determining the location of the ribs; a method of determining a predetermined reference point on the carcass; a method of determining a probing location; and a probe. The probe is attached to a robotic arm.
摘要翻译：本发明涉及一种用于分级动物体的自动化分级方法和装置。该过程包括产生和接收信号的步骤; 确定所述胎体中的所述肋的位置; 确定所述屠体上的预定参考点; 确定探测位置; 并探测尸体。作为示例，预定参考点可以是第一肋，并且探针位置可以在第三肋和第四肋之间。本发明还包括用于确定肋的位置的方法和用于确定第一肋的方法。该装置包括基座，用于定位胎体的夹紧子系统和感测探测子系统。感测探测子系统包括信号发生器和信号接收器，每个信号发生器和信号接收器均指向被夹持的胎体; 确定肋骨位置的方法; 确定胎体上的预定参考点的方法; 确定探测位置的方法; 和探针。探头连接到机械臂。

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