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1. 发明授权

US5785191A Operator control systems and methods for swing-free gantry-style cranes 失效
标题翻译：无摇摆龙门起重机的操作员控制系统和方法
公开(公告)号：US5785191A
公开(公告)日：1998-07-28
申请号：US651166
申请日：1996-05-15
申请人： John T. Feddema , Ben J. Petterson , Rush D. Robinett, III
发明人： John T. Feddema , Ben J. Petterson , Rush D. Robinett, III
IPC分类号： B66C13/06
CPC分类号： B66C13/063
摘要： A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload.
摘要翻译：提出了一种用于消除龙门式起重机中摆动运动的系统和方法，同时进行操作员控制。本发明包括无限脉冲响应（“IIR”）滤波器和比例积分（“PI”）反馈控制器（50）。 IIR滤波器从操作者输入装置（45）接收输入信号（46）（命令速度或加速度），并将其转换为输出信号（47），使得所得运动无摇摆（即，终点摆动防止）。 IIR滤波器的参数使用提升电缆长度编码器（25）的测量值进行实时更新。 PI反馈控制器补偿建模误差和外部干扰，例如与物体碰撞引起的风或扰动。 PI反馈控制器通过电缆角度传感器（27）提供的电缆回转角度测量器进行操作。本发明调整加速和减速以消除振荡。本发明的一个特别重要的特征在于它补偿来自附接到悬挂有效载荷的多个电缆的可变长度的电缆运动。

2. 发明授权

US06496765B1 Control system and method for payload control in mobile platform cranes 失效
标题翻译：移动平台起重机控制系统和有效负载控制方法
公开(公告)号：US06496765B1
公开(公告)日：2002-12-17
申请号：US09695815
申请日：2000-10-24
申请人： Rush D. Robinett, III , Kenneth N. Groom , John T. Feddema , Gordon G. Parker
发明人： Rush D. Robinett, III , Kenneth N. Groom , John T. Feddema , Gordon G. Parker
IPC分类号： G06F1900
CPC分类号： B66C13/063
摘要： A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.
摘要翻译：起重机控制系统和方法提供了一种响应于期望的有效载荷运动来产生起重机命令的方式，以实现基本无假定的实际有效载荷运动。控制系统和方法应用运动补偿器来相对于惯性坐标系将有效载荷维持在限定的有效载荷构造中。该控制系统和方法还可以包括一个摆式阻尼器控制器，用于减少检测到的有效载荷配置和所定义的有效载荷配置之间的摆动量。控制系统和方法还可以包括命令整形滤波器，以从期望的有效载荷运动中滤出残余有效载荷倾斜频率。

3. 发明授权

US06442439B1 Pendulation control system and method for rotary boom cranes 失效
标题翻译：旋转式起重机的调度控制系统及方法
公开(公告)号：US06442439B1
公开(公告)日：2002-08-27
申请号：US09339787
申请日：1999-06-24
申请人： Rush D. Robinett, III , Kenneth N. Groom , John T. Feddema , Gordon G. Parker
发明人： Rush D. Robinett, III , Kenneth N. Groom , John T. Feddema , Gordon G. Parker
IPC分类号： G05B1302
CPC分类号： B66C13/063
摘要： A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.
摘要翻译：用于旋转式起重机的命令成形控制系统和方法提供了一种减少由实时输入信号引起的有效负载弯曲的方式，来自操作员指令或自动起重机操作。该方法可以采取输入命令，并且可以应用命令整形滤波器来减少由于旋转，升高和起重运动引起的有效负载弯曲的贡献，以便控制起重机响应并减少切向和径向有效载荷。滤波器可以应用于摆动激励频率，以减少残余径向摆动和切向摆动振幅。

4. 发明申请

US20180163690A1 Pseudo-spectral method to control three-degree-of-freedom wave energy converters 审中-公开
公开(公告)号：US20180163690A1
公开(公告)日：2018-06-14
申请号：US15837853
申请日：2017-12-11
申请人： Ossama Abdelkhalik , Shangyan Zou , Rush D. Robinett, III , National Technology & Engineering Solutions of Sandia, LLC
发明人： Ossama Abdelkhalik , Giorgio Bacelli , Shangyan Zou , Rush D. Robinett, III , David G. Wilson , Ryan G. Coe
IPC分类号： F03B13/18 , F03B15/20 , H01J49/42 , G06F1/02 , G02F1/39
CPC分类号： F03B13/183 , F03B13/16 , F03B15/00 , F03B15/20 , F05B2250/43 , F05B2270/20 , G02F1/39 , G06F1/02 , G06F1/022 , H01J49/4275 , Y02E10/38
摘要： The invention provides optimal control of a three-degree-of-freedom wave energy converter using a pseudo-spectral control method. The three modes are the heave, pitch and surge. A dynamic model is characterized by a coupling between the pitch and surge modes, while the heave is decoupled. The heave, however, excites the pitch motion through nonlinear parametric excitation in the pitch mode. The invention can use a Fourier series as basis functions to approximate the states and the control. For the parametric excited case, a sequential quadratic programming approach can be implemented to numerically solve for the optimal control. The numerical results show that the harvested energy from three modes is greater than three times the harvested energy from the heave mode alone. Moreover, the harvested energy using a control that accounts for the parametric excitation is significantly higher than the energy harvested when neglecting this nonlinear parametric excitation term.

5. 发明申请

US20120283887A1 CUSTOMIZED ELECTRIC POWER STORAGE DEVICE FOR INCLUSION IN A MICROGRID 有权
标题翻译：用于包装在微型电脑中的定制电力存储装置
公开(公告)号：US20120283887A1
公开(公告)日：2012-11-08
申请号：US13546342
申请日：2012-07-11
申请人： Steven Y. Goldsmith , David G. Wilson , Rush D. Robinett, III
发明人： Steven Y. Goldsmith , David G. Wilson , Rush D. Robinett, III
IPC分类号： G05F5/00
CPC分类号： G06Q50/06 , H02J3/32 , H02J2003/007
摘要： An electric power storage device included in a microgrid is described herein. The electric power storage device has at least one of a charge rate, a discharge rate, or a power retention capacity that has been customized for the microgrid. The at least one of the charge rate, the discharge rate, or the power retention capacity of the electric power storage device is computed based at least in part upon specified power source parameters in the microgrid and specified load parameters in the microgrid.
摘要翻译：本文描述了包括在微电网中的蓄电装置。电力存储装置具有为微电网定制的充电率，放电率或功率保持容量中的至少一种。至少部分地基于微电网中的规定的电源参数和微电网中指定的负载参数来计算蓄电装置的充电率，放电率或功率保持容量中的至少一个。

6. 发明授权

US06826431B2 Distributed optimization system 有权
标题翻译：分布式优化系统
公开(公告)号：US06826431B2
公开(公告)日：2004-11-30
申请号：US10392542
申请日：2003-03-19
申请人： John E. Hurtado , Clark R. Dohrmann , Rush D. Robinett, III
发明人： John E. Hurtado , Clark R. Dohrmann , Rush D. Robinett, III
IPC分类号： G06F1900
CPC分类号： G05B19/41865 , G05B2219/33055 , G05B2219/33065 , G05B2219/33066 , G05B2219/33068 , Y02P90/08 , Y02P90/20
摘要： A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.
摘要翻译：一种搜索系统和方法，用于使用分布式感测和协作控制来控制多个代理以优化目标。搜索代理可以是一个或多个物理代理，例如机器人，并且可以是用于搜索网络空间的软件代理。目标可以是：化学来源，温度源，辐射源，光源，逃避者，侵入者，爆炸源，时间依赖源，时间独立源，功能表面，最大化点，最小化点和系统的最佳控制，如通信系统，经济，起重机和多处理器计算机。

7. 发明授权

US5596254A Two-axis angular effector 失效
标题翻译：两轴角执行器
公开(公告)号：US5596254A
公开(公告)日：1997-01-21
申请号：US289979
申请日：1994-08-12
申请人： Mark R. Vaughn , Rush D. Robinett, III , John R. Phelan , Don M. Van Zuiden
发明人： Mark R. Vaughn , Rush D. Robinett, III , John R. Phelan , Don M. Van Zuiden
IPC分类号： B25J17/02 , F16D3/40 , G05G11/00
CPC分类号： F16D3/40 , B25J17/0275 , Y10T74/20207
摘要： A new class of coplanar two-axis angular effectors. These effectors combine a two-axis rotational joint analogous to a Cardan joint with linear actuators in a manner to produce a wider range of rotational motion about both axes defined by the joint. This new class of effectors also allows design of robotic manipulators having very high strength and efficiency. These effectors are particularly suited for remote operation in unknown surroundings, because of their extraordinary versatility. An immediate application is to the problems which arise in nuclear waste remediation.
摘要翻译：一种新型的共面双轴角效应器。这些执行器以类似于万向节的两轴旋转接头与线性致动器组合，以便以由关节限定的两个轴线产生更宽范围的旋转运动。这种新型效果器还允许设计具有非常高的强度和效率的机器人操纵器。这些效果器特别适合在未知环境中进行远程操作，因为它们具有非凡的多功能性。立即适用于核废料整治中出现的问题。

8. 发明授权

US10488828B2 Multi-resonant feedback control of multiple degree-of-freedom wave energy converters 有权
公开(公告)号：US10488828B2
公开(公告)日：2019-11-26
申请号：US15830770
申请日：2017-12-04
申请人： National Technology & Engineering Solutions of Sandia, LLC , Ossama Abdelkhalik , Shangyan Zou , Rush D. Robinett, III , Umesh Korde
发明人： Ossama Abdelkhalik , Shangyan Zou , Rush D. Robinett, III , David G. Wilson , Giorgio Bacelli , Ryan Geoffrey Coe , Umesh Korde
IPC分类号： G05B11/38 , F03B13/22 , F03B15/00 , G06F17/14
CPC分类号： G05B11/38 , F03B13/22 , F03B15/00 , G06F17/142 , F05B2240/93 , F05B2250/231 , F05B2250/241 , F05B2270/20
摘要： Multi-resonant control of a 3 degree-of-freedom (heave-pitch-surge) wave energy converter enables energy capture that can be in the order of three times the energy capture of a heave-only wave energy converter. The invention uses a time domain feedback control strategy that is optimal based on the criteria of complex conjugate control. The multi-resonant control can also be used to shift the harvested energy from one of the coupled modes to another, enabling the elimination of one of the actuators otherwise required in a 3 degree-of-freedom wave energy converter. This feedback control strategy does not require wave prediction; it only requires the measurement of the buoy position and velocity.

9. 发明授权

US06577906B1 Distributed optimization system and method 有权
标题翻译：分布式优化系统和方法
公开(公告)号：US06577906B1
公开(公告)日：2003-06-10
申请号：US09635019
申请日：2000-08-04
申请人： John E. Hurtado , Clark R. Dohrmann , Rush D. Robinett, III
发明人： John E. Hurtado , Clark R. Dohrmann , Rush D. Robinett, III
IPC分类号： G05B1918
CPC分类号： G05B19/41865 , G05B2219/33055 , G05B2219/33065 , G05B2219/33066 , G05B2219/33068 , Y02P90/08 , Y02P90/20
摘要： A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.
摘要翻译：一种搜索系统和方法，用于使用分布式感测和协作控制来控制多个代理以优化目标。搜索代理可以是一个或多个物理代理，例如机器人，并且可以是用于搜索网络空间的软件代理。目标可以是：化学来源，温度源，辐射源，光源，逃避者，侵入者，爆炸源，时间依赖源，时间独立源，功能表面，最大化点，最小化点和系统的最佳控制，如通信系统，经济，起重机和多处理器计算机。

10. 发明授权

US10090764B1 Method to provide meta-stable operation of a DC microgrid comprising a pulsed load 有权
公开(公告)号：US10090764B1
公开(公告)日：2018-10-02
申请号：US15867276
申请日：2018-01-10
申请人： National Technology & Engineering Solutions of Sandia, LLC , Wayne W. Weaver , Rush D. Robinett, III , Ronald Matthews
发明人： David G. Wilson , Wayne W. Weaver , Rush D. Robinett, III , Ronald Matthews , Steven F. Glover
IPC分类号： H02M3/158 , G05F3/08 , H02J1/00 , H02J1/02 , H02M1/02
摘要： A Hamiltonian surface shaping power flow control (HSSPFC) method is used to analyze the meta-stability and adjust pulsed power loads on a DC electric power distribution network. Pulsed power loads are nonlinear, time-variant systems that cause nonlinear limit-cycles. During the on periods of a pulsed load, the system can be in an unstable state and is damped back to stability during the off state of the load. Therefore, over the entire period of the pulse the system may only be assessed as meta-stable. As shown through simulation, HIL and hardware results, the HSSPFC method is more accurate than the other small-signal approaches, such as Eigenvalues, Nyquist, and Floquet theory, and can reveal important details about the transient responses and performance.

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