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1. 发明授权

US08776977B2 Drive system for mobile robot arm 有权
标题翻译：移动机器人手臂驱动系统
公开(公告)号：US08776977B2
公开(公告)日：2014-07-15
申请号：US12924432
申请日：2010-09-27
申请人： Geoffrey B. Lansberry , Lance L. Andrus , Brian DeStefano
发明人： Geoffrey B. Lansberry , Lance L. Andrus , Brian DeStefano
IPC分类号： F16D13/42 , F16D23/12
CPC分类号： F16D7/048 , B25J5/005 , F16D13/52 , F16D13/70 , F16D43/208
摘要： A drive system for each arm of a mobile robot, each drive system including a drive motor and an adjustable clutch system interconnected between its associated arm and the drive motor and having a high friction locked position for enabling direct drive of the arm by the drive motor and a reduced friction slip position for enabling manual movement of the associated arm without back-driving the drive motor.
摘要翻译：一种用于移动机器人的每个臂的驱动系统，每个驱动系统包括驱动马达和可调离合器系统，该离合器系统在其相关联的臂与驱动马达之间相互连接并且具有高摩擦锁定位置，以使驱动马达能够直接驱动臂以及减少的摩擦滑动位置，用于使得相关臂的手动移动而不驱动驱动马达。

2. 发明申请

US20120073930A1 Drive system for mobile robot arm 有权
标题翻译：移动机器人手臂驱动系统
公开(公告)号：US20120073930A1
公开(公告)日：2012-03-29
申请号：US12924432
申请日：2010-09-27
申请人： Geoffrey B. Lansberry , Lance L. Andrus , Brian DeStefano
发明人： Geoffrey B. Lansberry , Lance L. Andrus , Brian DeStefano
IPC分类号： F16D13/38 , F16D11/16
CPC分类号： F16D7/048 , B25J5/005 , F16D13/52 , F16D13/70 , F16D43/208
摘要： A drive system for each arm of a mobile robot, each drive system including a drive motor and an adjustable clutch system interconnected between its associated arm and the drive motor and having a high friction locked position for enabling direct drive of the arm by the drive motor and a reduced friction slip position for enabling manual movement of the associated arm without back-driving the drive motor.
摘要翻译：一种用于移动机器人的每个臂的驱动系统，每个驱动系统包括驱动马达和可调离合器系统，该离合器系统在其相关联的臂与驱动马达之间相互连接并且具有高摩擦锁定位置，以使驱动马达能够直接驱动臂以及减少的摩擦滑动位置，用于使得相关臂的手动移动而不驱动驱动马达。

3. 发明授权

US5925993A Power control architecture for a hybrid power source 失效
标题翻译：混合动力源的功率控制架构
公开(公告)号：US5925993A
公开(公告)日：1999-07-20
申请号：US642131
申请日：1996-05-02
申请人： Geoffrey B. Lansberry
发明人： Geoffrey B. Lansberry
IPC分类号： B60L11/00 , B60L11/12 , B60L11/16 , H02P1/00
CPC分类号： B60L11/14 , B60K6/46 , B60L11/005 , B60L11/123 , B60L11/16 , B60L2220/12 , B60Y2200/114 , Y02T10/6217 , Y02T10/7022 , Y02T10/7027 , Y02T10/7033 , Y02T10/7077
摘要： A hybrid powertrain assembly includes a voltage bus which is operable using a predetermined voltage level within a predetermined voltage range, a generator operatively connected to the voltage bus for generating power and bilaterally transferring the power with the voltage bus independently of the voltage level, a traction motor operatively connected with the voltage bus, the traction motor bilaterally transferring power with the voltage bus independently of the voltage level, and a flywheel assembly operatively connected with the voltage bus, the flywheel assembly bilaterally transferring power with the voltage bus based on the voltage level.
摘要翻译：混合动力总成组件包括可在预定电压范围内使用预定电压电平操作的电压总线，可操作地连接到电压总线的发电机，用于产生电力并且与电压总线独立于电压电平双向传输电力，牵引力电动机与电压总线可操作地连接，牵引电动机与电压总线独立于电压电平双向传递功率，以及与电压总线可操作地连接的飞轮组件，飞轮组件基于电压电平与电压总线双向传递功率。

4. 发明授权

US5831409A Electric vehicle propulsion system employing AC induction motor control 失效
标题翻译：采用交流感应电动机控制的电动汽车推进系统
公开(公告)号：US5831409A
公开(公告)日：1998-11-03
申请号：US808354
申请日：1997-02-28
申请人： Frank A. Lindberg , David L. Schantz, Jr. , Brian H. Smith , Charles S. Kerfoot , Joseph J. Springer , Patricia A. O'Donnell , James H. DeOms , Ronnie L. Starling , Michael J. Ankrom , James L. Munro , Geoffrey B. Lansberry , Beth A. Herman , William B. Hall , Marshall G. Jones , William B. Winkel , Brian A. DeAbreu , Thomas C. Underwood , Todd M. Zaranski , Aaron D. Valdivia , Richard M. Young , Frank E. Altoz , Ngon B. Nguyen , Eric L. Mohler
发明人： Frank A. Lindberg , David L. Schantz, Jr. , Brian H. Smith , Charles S. Kerfoot , Joseph J. Springer , Patricia A. O'Donnell , James H. DeOms , Ronnie L. Starling , Michael J. Ankrom , James L. Munro , Geoffrey B. Lansberry , Beth A. Herman , William B. Hall , Marshall G. Jones , William B. Winkel , Brian A. DeAbreu , Thomas C. Underwood , Todd M. Zaranski , Aaron D. Valdivia , Richard M. Young , Frank E. Altoz , Ngon B. Nguyen , Eric L. Mohler
IPC分类号： B60L11/18 , H05K7/20 , H02H7/122
CPC分类号： H05K7/20927 , B60L1/003 , B60L1/02 , B60L11/1803 , B60L11/1861 , B60L11/1868 , B60L15/025 , B60L15/2009 , B60L3/003 , B60L3/0061 , B60L3/0069 , B60L7/14 , B60L2210/10 , B60L2210/30 , B60L2210/46 , B60L2220/12 , B60L2240/12 , B60L2240/34 , B60L2240/36 , B60L2240/421 , B60L2240/423 , B60L2240/547 , B60L2240/549 , B60L2270/147 , Y02T10/643 , Y02T10/7005 , Y02T10/7044 , Y02T10/7066 , Y02T10/7216 , Y02T10/7241 , Y02T10/7275
摘要： An electric vehicle propulsion system having a motor with first and second electrically isolated windings and a system control unit for controlling the motor, wherein the system control unit includes a first power bridge for driving the first windings and a second power bridge for driving the second windings.
摘要翻译：一种具有具有第一和第二电隔离绕组的电动机的电动车辆推进系统和用于控制所述电动机的系统控制单元，其中所述系统控制单元包括用于驱动所述第一绕组的第一电力桥和用于驱动所述第二绕组的第二电力桥。

5. 发明授权

US5694017A Time delay compressed synchronous frame controller 失效
标题翻译：时间延迟压缩同步帧控制器
公开(公告)号：US5694017A
公开(公告)日：1997-12-02
申请号：US642132
申请日：1996-05-02
申请人： Geoffrey B. Lansberry
发明人： Geoffrey B. Lansberry
IPC分类号： H02P21/06 , H02P5/28
CPC分类号： H02P21/06
摘要： A time delay compensated synchronous reference frame controller for a drive motor having a rotor and using an alternating current having a phase angle includes a low pass filter electrically connected to the drive motor for eliminating high frequency components of the alternating current, a coordinate transformer electrically connected to the low pass filter for receiving the alternating current and for defining a moving reference frame based on the phase of the alternating current, a controller electrically connected to the coordinate transformer for driving the alternating current to a proper phase relative to a flux of the rotor of the motor, an inverse coordinate transformer electrically connected to the compensator for receiving the alternating current and for transforming the moving reference frame to a stationary reference frame, and a reference frame shifter operatively connected to this coordinate transformer and the inverse coordinate transformer wherein the reference frame shifter defines a shift in the moving reference frame based on time delays created by the low pass filter and the controller.
摘要翻译：用于具有转子并使用具有相位角的交流电的驱动电动机的延时补偿同步参考系控制器包括电连接到驱动电动机的低通滤波器，用于消除交流电的高频分量，电气连接的坐标变换器到用于接收交流电流并用于基于交流电流的相位定义运动参考系的低通滤波器，电连接到坐标变换器的控制器，用于将交流电流相对于转子的磁通驱动到适当的相位电连接到补偿器的反向坐标变换器，用于接收交流电流并将移动参考系变换成静止参考系，以及可操作地连接到该坐标变换器和逆坐标变换器的参考移位器，其中参考框架基于由低通滤波器和控制器产生的时间延迟来定义移动参考帧中的移位。

6. 发明申请

US20090129003A1 Operator control unit 审中-公开
标题翻译：操作员控制单元
公开(公告)号：US20090129003A1
公开(公告)日：2009-05-21
申请号：US12284307
申请日：2008-09-19
申请人： Kurt Bruck , Hoi Tong , Geoffrey B. Lansberry , Jake Warren , Alex Kirilov
发明人： Kurt Bruck , Hoi Tong , Geoffrey B. Lansberry , Jake Warren , Alex Kirilov
IPC分类号： H05K7/10 , H04Q9/00
CPC分类号： G08C17/02
摘要： A mobile operator control unit for remotely controlling a robot includes a housing with a reconfigurable user interface with multiple sockets. A plurality of control modules are each removably received in a socket and include one or more switches. A module interface is connected to the one or more switches. A baseboard processing unit is connected to each module interface for receiving and processing signals received from the module interfaces. A transmitter is responsive to the baseboard processing unit for transmitting signals to the robot based on the activation of the module switches.
摘要翻译：用于远程控制机器人的移动操作员控制单元包括具有多个插座的可重新配置的用户界面的壳体。多个控制模块各自可移除地容纳在插座中并且包括一个或多个开关。模块接口连接到一个或多个开关。基板处理单元连接到每个模块接口，用于接收和处理从模块接口接收的信号。发射机响应于基板处理单元，用于基于模块开关的激活向机器人发送信号。

7. 发明授权

US06262505B1 Flywheel power supply having axial magnetic bearing for frictionless rotation 失效
标题翻译：飞轮电源具有轴向磁轴承，用于无摩擦旋转
公开(公告)号：US06262505B1
公开(公告)日：2001-07-17
申请号：US08824862
申请日：1997-03-26
申请人： Richard L. Hockney , Stephen B. Nichols , Geoffrey B. Lansberry , Francis E. Nimblett , Dariusz A. Bushko , Gita P. Rao , Luka Serdar , Michael E. Amaral , William E. Stanton , James O'Rourke
发明人： Richard L. Hockney , Stephen B. Nichols , Geoffrey B. Lansberry , Francis E. Nimblett , Dariusz A. Bushko , Gita P. Rao , Luka Serdar , Michael E. Amaral , William E. Stanton , James O'Rourke
IPC分类号： H02K709
CPC分类号： F16C32/0442 , F16C32/0457 , F16C2361/55 , F16F15/03 , F16F15/315 , H02K7/025 , H02K7/083 , H02K7/09 , Y02E60/16 , Y10T74/2131
摘要： A power supply device for providing uninterrupted power for a period of time is disclosed. The power supply device has a controller and a flywheel device. The flywheel device has a housing that contains a flywheel rotor and a motor/generator rotor. The flywheel rotor and the motor/generator rotor are mounted on a common shaft. An active axial magnetic bearing is located to support the shaft for frictionless rotation. The bearing provides support for the shaft, the flywheel rotor and motor/generator rotor. The axial magnetic bearing is attached to the housing and provides, in combination with the motor/generator rotor, a flux path and magnetic field to exert a magnetic force to lift the motor/generator rotor and the shaft on which it is mounted.
摘要翻译：公开了用于在一段时间内提供不间断电力的电源装置。电源装置具有控制器和飞轮装置。飞轮装置具有包含飞轮转子和电动机/发电机转子的壳体。飞轮转子和电机/发电机转子安装在公共轴上。主动轴向磁轴承位于支撑轴以进行无摩擦旋转。轴承为轴，飞轮转子和电机/发电机转子提供支撑。轴向磁性轴承附接到壳体并与电动机/发电机转子组合提供磁通和磁场，以施加磁力以提升电动机/发电机转子及其所安装的轴。

8. 发明授权

US5804724A Rotor speed estimator 失效
标题翻译：转子速度估计器
公开(公告)号：US5804724A
公开(公告)日：1998-09-08
申请号：US916180
申请日：1997-08-21
申请人： Geoffrey B. Lansberry , William F. Bonnice
发明人： Geoffrey B. Lansberry , William F. Bonnice
IPC分类号： G01P3/489 , G01P11/00
CPC分类号： G01P11/00 , G01P3/489
摘要： A method for accurately estimating the rotational speed of a machine includes the steps of initializing a counter, measuring a position of the machine, incrementing the counter, waiting for a position update, measuring a next position of the machine, calculating a difference between the position measurement, measuring the amount of time elapse between positions, returning to the step of incrementing to the counter if the difference is less than a predetermined amount, returning to the step of incrementing the counter if the amount of time is less than a predetermined time, dividing the difference by the amount of time to determine the estimated rotational speed of the machine, and outputing the estimated rotational speed of the machine.
摘要翻译：准确地估计机器的转速的方法包括以下步骤：初始化计数器，测量机器的位置，递增计数器，等待位置更新，测量机器的下一个位置，计算位置测量，测量位置之间的时间量，如果差小于预定量，则返回到递增计数器的步骤，如果时间量小于预定时间，则返回到增加计数器的步骤，将差除以确定机器的估计转速的时间量，并输出机器的估计转速。

9. 发明申请

US20120185095A1 Mobile Human Interface Robot 有权
标题翻译：移动人机接口机器人
公开(公告)号：US20120185095A1
公开(公告)日：2012-07-19
申请号：US13032370
申请日：2011-02-22
申请人： Michael Rosenstein , Chikyung Won , Geoffrey B. Lansberry , Steven V. Shamlian , Michael Halloran , Mark Chiappetta , Thomas P. Allen
发明人： Michael Rosenstein , Chikyung Won , Geoffrey B. Lansberry , Steven V. Shamlian , Michael Halloran , Mark Chiappetta , Thomas P. Allen
IPC分类号： B25J13/08 , G05B15/00 , B25J19/02 , B25J19/04
CPC分类号： B25J13/084 , B25J5/007 , G05D1/0227 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , Y10S901/01
摘要： A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.
摘要翻译：一种移动人机接口机器人，其包括限定垂直中心轴线和向前驱动方向的基座和由基座支撑的整体驱动系统。驱动系统具有第一，第二和第三从动驱动轮，每个三轴驱动轮围绕垂直中心轴线三边隔开，并具有垂直于垂直中心轴线的径向轴线的驱动方向。机器人还包括与整体驱动系统通信的控制器，支撑在基座上方的躯干以及与控制器通信的触摸传感器系统。触摸传感器系统响应人的接触。控制器基于从触摸传感器系统接收的触摸信号向整体驱动系统发出驱动命令。

10. 发明申请

US20110199039A1 Fractional boost system 审中-公开
标题翻译：分数升压系统
公开(公告)号：US20110199039A1
公开(公告)日：2011-08-18
申请号：US12658891
申请日：2010-02-17
申请人： Geoffrey B. Lansberry
发明人： Geoffrey B. Lansberry
IPC分类号： G05B11/32 , G05F1/10
CPC分类号： H02M1/32 , H02M3/158
摘要： A fractional boost system including a boost converter, responsive to the base level voltage of a power supply, for providing a boost level voltage to a load and a control system for sensing the current to the boost converter and limiting the boost function of the boost converter when the current to the boost converter exceeds a predetermined level, while applying the power supply base level voltage and supplying current exceeding the predetermined level to the load.
摘要翻译：包括升压转换器的分数升压系统，其响应于电源的基极电平电压，用于向负载提供升压电平，以及用于感测到升压转换器的电流并限制升压转换器的升压功能的控制系统当向升压转换器的电流超过预定电平时，同时施加电源基准电平电压并将超过预定电平的电流提供给负载。

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