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1. 发明申请

WO2012149363A3 VARIABLE STRENGTH MAGNETIC END EFFECTOR FOR LIFT SYSTEMS 审中-公开
标题翻译：用于提升系统的可变强度磁极效应器
公开(公告)号：WO2012149363A3
公开(公告)日：2013-04-18
申请号：PCT/US2012035511
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , SMITH FRASER M , COLVIN GLENN E JR , MCCULLOUGH JOHN
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , COLVIN GLENN E JR , MCCULLOUGH JOHN
IPC分类号： B25J15/06 , B25J3/04 , B25J5/00
CPC分类号： B66F9/182 , B25J5/007 , B25J9/0084 , B25J9/162 , B25J11/00 , B25J13/08 , B25J15/0608 , B66C1/04 , B66C1/68 , H01F7/04 , Y10T483/1726
摘要： A device and method for adjusting the magnetic strength of a magnetic end effector (100) for lift systems (110) is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator (420) can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.
摘要翻译：描述了一种用于调节用于升降系统（110）的磁性末端执行器（100）的磁强度的装置和方法。磁端执行器能够通过选择性地改变由磁端执行器输出的磁力的强度来提升鉴别有效载荷。致动器（420）可以可操作地联接到可变强度磁体末端执行器，其中致动器可选择性地致动以控制可变强度磁体的调节。致动器还可以被配置为将可变强度磁体保持在任何给定时间量达到期望的磁力输出强度。

2. 发明申请

WO2012170123A3 PLATFORM PERTURBATION COMPENSATION 审中-公开
标题翻译：平台施压补偿
公开(公告)号：WO2012170123A3
公开(公告)日：2013-09-26
申请号：PCT/US2012035592
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , MCCULLOUGH JOHN , SMITH FRASER M , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , MCCULLOUGH JOHN , SMITH FRASER M , OLIVIER MARC X
IPC分类号： B25J9/16 , B25J5/00 , B25J9/00
CPC分类号： B66F9/182 , B25J5/007 , B25J9/0084 , B25J9/162 , B25J11/00 , B25J13/08 , B25J15/0608 , B66C1/04 , B66C1/68 , H01F7/04 , Y10T483/1726
摘要： A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.
摘要翻译：根据该技术的实施例，用于补偿具有多个机械臂的平台外部的扰动的方法包括使用传感器检测平台的正常位置和/或取向测量。还可以使用传感器来检测平台的扰动位置和/或取向测量。可以比较正常的位置和/或取向测量和扰动的位置和/或取向测量以确定位置和/或取向差。可以调节机械臂的位置和/或取向，以基于位置和/或取向差来补偿扰动。

3. 发明申请

WO2012149446A3 TELEOPERATED ROBOTIC SYSTEM 审中-公开
标题翻译：远程机器人系统
公开(公告)号：WO2012149446A3
公开(公告)日：2013-09-12
申请号：PCT/US2012035620
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , SMITH FRASER M , MCCULLOUGH JOHN , COLVIN JR GLENN E , SCROGGIN WAYCO , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , MCCULLOUGH JOHN , COLVIN JR GLENN E , SCROGGIN WAYCO , OLIVIER MARC X
IPC分类号： B25J3/04 , B25J5/00 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
摘要翻译：包括主控臂，从手臂和移动平台的远程机器人系统。在使用中，用户操纵主控臂以控制从臂的移动。远程机器人系统可以包括两个主控臂和两个从站。主控制臂和从动臂可以安装在平台上。该平台可以为机器人系统的主控制臂和远程操作员或用户提供支持。因此，移动平台可以允许机器人系统从一个地方移动到另一个地方，以将从属臂定位在使用位置。另外，用户可以定位在平台上，使得用户可以直接看到和听到从手臂和从属臂操作的工作空间。

4. 发明申请

WO2012125903A3 ROBOTIC MOBILE LOW-PROFILE TRANSPORT VEHICLE 审中-公开
标题翻译：机动车手机低档运输车辆
公开(公告)号：WO2012125903A3
公开(公告)日：2013-01-17
申请号：PCT/US2012029385
申请日：2012-03-16
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , OLIVIER MARC X , MCCULLOUGH JOHN , SMITH FRASER M
发明人： JACOBSEN STEPHEN C , OLIVIER MARC X , MCCULLOUGH JOHN , SMITH FRASER M
IPC分类号： B62D55/065 , B62D37/04 , F41H7/00
CPC分类号： B62D59/04 , B62D37/04 , B62D55/0655 , F41H7/005
摘要： A robotic mobile low-profile transport vehicle (10) is disclosed. The vehicle can comprise a first transport module (14) having a frame assembly (18), a mobility system (20) and a propulsion system and a second transport module (16) having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage (84) can join the first and second transport modules together. The vehicle can include a first platform (70) supported about the frame assembly of the first transport module, and a second platform (71) supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
摘要翻译：公开了一种机器人移动小型运输车辆（10）。车辆可以包括具有框架组件（18），移动系统（20）和推进系统的第一运输模块（14）和具有框架组件和移动系统的第二运输模块（16）。多自由度联接组件（84）可以将第一和第二传输模块连接在一起。车辆可以包括围绕第一运输模块的框架组件支撑的第一平台（70）和围绕第二运输模块的框架组件支撑的第二平台（71）。可以将每个平台配置为接收运输负载。另外，车辆可以包括控制系统，其可以操作以促进模块内通信和协调，以提供关于给定地形的第一和第二传输模块和联接组合的协调操作模式。

5. 发明申请

WO2012149435A3 SYSTEM AND METHOD FOR CONTROLLING A TELE-OPERATED ROBOTIC AGILE LIFT SYSTEM 审中-公开
标题翻译：用于控制电动机器人提升系统的系统和方法
公开(公告)号：WO2012149435A3
公开(公告)日：2013-09-12
申请号：PCT/US2012035609
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X , STILSON SHANE
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X , STILSON SHANE
IPC分类号： B25J3/04 , B25J5/00 , B25J9/00 , B25J9/16 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0084 , B25J9/1689 , B25J13/025 , B66C1/425 , B66C13/44
摘要： A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
摘要翻译：公开了一种用于控制远程操作的机器人敏捷升降系统的方法。该方法包括操纵位于移动平台上的主机器人的人机界面。人机界面在运动上相当于具有多个支撑构件的使用者手臂。测量每个支撑构件的位置值和扭矩值。位置值和扭矩值被传递到运动学等效的从动臂的支撑构件，以将支撑构件定位成与人机界面的位置相对应。

6. 发明申请

WO2011041724A3 METHOD AND APPARATUS FOR VIEWING A BODY CAVITY 审中-公开
标题翻译：用于观察身体腔的方法和设备
公开(公告)号：WO2011041724A3
公开(公告)日：2011-07-28
申请号：PCT/US2010051192
申请日：2010-10-01
申请人： JACOBSEN STEPHEN C , SMITH FRASER M , MARCEAU DAVID , MARKUS DAVID
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , MARCEAU DAVID , MARKUS DAVID
IPC分类号： A61B1/05 , A61B1/055
CPC分类号： A61B1/042 , A61B1/00177 , A61B1/00179 , A61B1/00183 , A61B1/05 , A61B1/051
摘要： A method and apparatus to generate a planar representation of a longitudinally extending 360 degree continuous view within a body cavity of a patient is disclosed comprising advancing a portion of an imaging device into the body cavity of the patient, the imaging device having an image capture mechanism disposed on a distal end thereof configured to capture at least a 360 degree view of the inside of the body cavity. Further comprising withdrawing the imaging device at a controlled rate from the patient while simultaneously coordinating and generating 360 degree view image data from the imaging device and transmitting the image data from the imaging device to an image processor. The method further comprising processing the image data to produce a planar longitudinally continuous 360 degree view of the body cavity.
摘要翻译：公开了一种生成患者体腔内的纵向延伸的360度连续视图的平面表示的方法和装置，包括将成像装置的一部分推进到患者的体腔中，该成像装置具有图像捕获机构设置在其远端上，其被配置为捕获体腔内部的至少360度视图。进一步包括以受控的速率从患者取出成像装置，同时协调和生成来自成像装置的360度视图图像数据并将图像数据从成像装置传输到图像处理器。该方法还包括处理图像数据以产生体腔的平面纵向连续的360度视图。

7. 发明申请

WO2010144820A3 AMPHIBIOUS ROBOTIC CRAWLER 审中-公开
标题翻译：大型机动式起重机
公开(公告)号：WO2010144820A3
公开(公告)日：2011-03-24
申请号：PCT/US2010038339
申请日：2010-06-11
申请人： RAYTHEON SARCOS LLC , JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X
IPC分类号： B63C11/34 , B60F3/00 , B63C11/52
CPC分类号： B63C11/52 , B63C11/34
摘要： An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
摘要翻译：一种水陆两用的机器人履带，用于穿过具有两个框架单元的水体，该框架单元由致动的连接臂端对端或串联连接。每个框架单元包括具有可旋转地支撑在其上的可驱动连续轨道的壳体。框架单元可与电源，驱动机构和控制模块一起操作。每个框架单元还包括用于将框架单元悬挂在水中的浮力控制元件，并用于控制机器人履带在水中的深度。控制模块协调连续轨道的旋转，联动臂的位置和浮力控制元件的浮力，以控制机器人履带通过水体的运动，方向和姿态。

8. 发明申请

WO2011041720A3 METHOD AND APPARATUS FOR MANIPULATING MOVEMENT OF A MICRO-CATHETER 审中-公开
标题翻译：用于操纵微导管运动的方法和装置
公开(公告)号：WO2011041720A3
公开(公告)日：2011-09-15
申请号：PCT/US2010051188
申请日：2010-10-01
申请人： JACOBSEN STEPHEN C , SMITH FRASER M
发明人： JACOBSEN STEPHEN C , SMITH FRASER M
IPC分类号： A61M25/01 , A61M5/168 , A61M25/092
CPC分类号： A61M25/0102 , A61B1/015 , A61B1/05 , A61B1/055 , A61B1/3137 , A61M25/0138 , A61M25/0155 , A61M2025/0042
摘要： A medical device and method for manipulating movement of a micro-catheter, the device comprising an elongated tubular member having at least one lumen therein, wherein the lumen is proximally coupled to a pressurized fluid control system configured to regulate fluid flow through the elongated tubular member. An aperture is disposed near a distal end of the elongated tubular member, the aperture being in fluid communication with the at least one lumen. In one aspect, the aperture is oriented at an angle which is non parallel to the longitudinal axis of the elongated tubular member. A nozzle is coupled to the aperture, wherein the nozzle is configured to regulate pressurized flow out of the catheter to manipulate movement of the distal end of the elongated tubular member.
摘要翻译：一种用于操纵微导管运动的医疗装置和方法，所述装置包括在其中具有至少一个腔的细长管状构件，其中所述内腔向近侧联接到加压流体控制系统，所述加压流体控制系统构造成调节通过所述细长管状构件。孔设置在细长管状构件的远端附近，孔与至少一个内腔流体连通。在一个方面，孔以不平行于细长管状构件的纵向轴线的角度定向。喷嘴联接到孔，其中喷嘴被配置成调节加压流出导管以操纵细长管状构件的远端的运动。

9. 发明申请

WO2004061294A3 UNDERWATER WAVE/ENERGY TRANSDUCER 审中-公开
标题翻译：水下波/能量传感器
公开(公告)号：WO2004061294A3
公开(公告)日：2005-07-21
申请号：PCT/US0341730
申请日：2003-12-31
申请人： ECO FORCE SYSTEMS LLC , NORTH VAUGHN W , JACOBSEN STEPHEN C , SMITH FRASER M
发明人： NORTH VAUGHN W , JACOBSEN STEPHEN C , SMITH FRASER M
IPC分类号： F03B13/14 , F16D31/02
CPC分类号： F03B13/1805 , E02B2017/0091 , F03B13/148 , F05B2240/97 , Y02E10/38
摘要： An energy transducer device for positioning at the ocean floor for converting wave action at an ocean surface above the transducer to electrical current, the device comprising a mounting base 38, 91, 106, 112, 123, 133, 143, 153, 163, and 179 configured for positioning at the ocean floor below a location of possible wave action wherein overhead wave displacement generates reciprocating water displacement along a flow path F near the ocean floor; and an electro-mechanical transducer 22, 72, 92, 100, 110, 120, 130, 140, 150, 160, 170, 180 coupled to the mounting base and configured for positioning within the flow path and responsive to the reciprocating water movement along the flow path to generate electrical current.
摘要翻译：一种用于定位在海底的用于将换能器上方的海洋表面的波浪作用转换成电流的能量换能器装置，该装置包括安装基座38,91,106,112,123,133,143,153,163和 179，被配置为在可能的波浪作用的位置下方的海底处定位，其中塔顶波位移沿着靠近海底的流动路径F产生往复运动的水位移; 以及机电换能器22,72,92,100,110,120,130,140,150,160,170,180，其联接到所述安装基座并且被构造成用于在所述流动路径内定位并响应于沿着往复运动的水运动产生电流的流路。

10. 发明申请

WO2014043414A2 HULL ROBOT WITH HULL SEPARATION COUNTERMEASURES 审中-公开
公开(公告)号：WO2014043414A2
公开(公告)日：2014-03-20
申请号：PCT/US2013059551
申请日：2013-09-12
申请人： RAYTHEON CO
发明人： SMITH FRASER M
IPC分类号： B63B59/08
CPC分类号： B63B59/08 , B62D55/24 , B62D55/265 , B63G2008/004 , G01M5/0075 , G01M99/00 , G05D1/021 , G05D1/0255 , G05D1/0274
摘要： A hull robot is disclosed for operation on a surface of a hull of a vessel. The robot can include a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. A sensor subsystem onboard the robot can sense an attachment state of the robot to the hull. The attachment state can include at least one of attached and detached. A signal generation subsystem onboard the robot can emit a distress signal when the attachment state is detached.

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