Abstract: A series impedance compensation system for a set of transmission lines which are used for electrical power transmission, with these parallel lines being protected from the transient faults and dynamic subsynchronous oscillation problems. These problems can become aggravated by the introduction of capacitor banks which thus serve as only a partial solution to the disturbances of transient faults during conventional recovery modes of operation. The impedance compensation system is coupled in series to each transmission line to dynamically balance the inductor impedance on the transmission line, responsive to demand, by injecting a voltage component determined to be optimized substantially at quadrature leading or lagging phase angles (.+-.90.degree.) with respect to the transmission line voltage and current components.

Abstract: A high power density semiconductor module of reduced size and weight wherein a fusion element assembly for meeting electrical power processing requirements is nested in a hollow casing for both electrically insulating and operatively cooling by a single fluid medium. A pair of electrically conductive terminals penetrates the casing at opposite ends to make an electrical path through the fusion element assembly which resides within the casing as a stack in which each semiconductor fusion element is interleaved with plural heat sink elements undergoing a uniform compressive loading parameter. The stack is electrically insulated and cooled through transverse grooves in the fusion element assembly, which in one embodiment for space based utilization, is by way of finned heat sink or backing plate elements for passaging a dual function cryogen fluid such as supercritical liquid hydrogen.

Abstract: Both a system and a method are provided for electrically and mechanically connecting at least one integrated circuit die to a solderless printed wiring board of the type which uses connecting interfaces which include an array of resilient electrical connector means held within a sheet of compliant, insulating material. The system of the invention generally comprises a fanout interface formed from a sheet of insulating material integrally connected to the side of an integrated circuit die that includes the bond pads associated with such dies, wherein the fanout interface includes an internal array of contact pads that are connected to the bond pads of the die, and an external array of contact pads on its exterior surface which are advantageously spaced farther apart than the bond pads of the die.

Abstract: A generator system having a failure mode cooling-oil lubricating auxiliary compartment structurally integrated into the generator casing so as to provide a supplement to primary cooling and lubrication functions. A coupled driving unit and generating unit of an aircraft generating system has primary pump cooling and lubricating functions during productive rotating electrical power generation, and cooling friction and windage cooling function and a residual lubrication function is used for critical rotating components, during a fault mode of electrical non-power output production in the generator. This is provided in order to retard or eliminate damage and destruction of the coupled driving and generator units during an extended interim without power output of a failed generator unit, such as when its primary cooling and lubricating components have ceased to function.

Abstract: A coupling matrix for a circular array microwave antenna is described which permits the formation and phasing of multiple beams from a circular array. The present invention provides a beam forming and steering means for a circular array which utilizes at least one radio frequency signal as an input to a matrix of passive proximity couplers. These passive proximity couplers are configured in rows and are operable to form the radio frequency signal. These couplers are interconnected into distinguishable groups.

Abstract: The invention is an improved chip carrier assembly utilizing a cavity-down chip carrier with a pad grid array wherein the IC chip within the chip carrier is mounted against a surface opposite the PWB to which the chip carrier is attached such that heat transfer from the IC chip may occur along a short path to a heat sink such that a large heat transfer rate is possible. Furthermore, the apparatus utilizes an alignment and electrical connection means between the contact pads of the chip carrier and a PWB to which the chip carrier is attached to compensate for shrinkage variation which occurs during the chip carrier fabrication process. Furthermore, within the cavity of the chip carrier there is space for additional components such as a decoupling capacitors. This permits the design of an apparatus providing better heat transfer properties, more accurate contact pad locations and the option of including within the chip carrier components which in the past had been mounted outside of the chip carrier.

Abstract: A modular digital robot control includes an electronic arm interface board provided with circuitry for performing robot arm dependent functions. Included are circuitry for generating power amplifier control signals in response to input voltage command signals and circuitry for processing and manipulating position, velocity and motor current feedback signals.An electronic torque processor board is provided with paired torque microprocessors for operating each of respective torque control loops for respective robot joint motors. The torque microprocessors generate the voltage commands in response to input torque commands and feedback motor current signals.An electronic servo control board is provided with paired position/velocity microprocessors for operating position and velocity control loops for the respective joint motors. The position/velocity microprocessors generate the torque commands in response to input position commands and feedback position and velocity signals.

Abstract: A digital position and velocity feedback system is provided for a multiaxis robot control and it employs an LSI chip to process incremental position signals for position change and velocity computations. At low speeds, velocity is computed from the reciprocal of elasped time. At higher speeds, velocity is computed from the rate at which incremental position signals are generated.

Abstract: Circuitry is provided for applying a pulse width modulation (PWM) scheme to a brushless DC motor that operates as a robot axis drive. A pulse width modulation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The brushless drive application circuitry provides for application of the PWM control outputs to commutate the motor energization from winding pair to winding pair.

Abstract: A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. Another motor sensor generates an overlimit signal when motor temperature rises above a limit value to indicate excessive motor current. The torque microprocessor makes a backup motor energy calculation from the feedback motor current signal from each joint motor and compares the result to a stored motor energy limit. The robot is shut down if either limit is exceeded.

Abstract: A robot is provided with an arm having a plurality of motor driven joints. A power amplifier supplies drive current to each joint motor. Respective digital feedback control loop arrangements generate voltage commands from which signals are generated to operate the power amplifiers.Digital motor current, position and velocity feedback signals are generated for position, velocity and torque control loops in the digital feedback control loop arrangement. System resource facilities provide general support for the operation of the digital feedback control loops and include three separate communications controllers, a dual port microprocessor interfacing memory, a time stamp clock, a program memory and a nonvolatile data memory.A system level microprocessor based system or a microprocessor based position/velocity control system executes motion software from the program memory means according to whether the user desires an expanded performance robot control or a basic robot control.

Abstract: A digital robot control employs planning and trajectory programs which generate the trajectory plan and trajectory position commands with the use of an acceleration profile and a deceleration profile selected from at least square wave and sine wave profiles.

Abstract: A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. A backup velocity determination is made for each joint motor by the torque microprocessor from the motor current feedback, the motor command terminal voltage and the motor resistance and inductance. The robot is shut down if the difference between the feedback and backup velocity values exceeds a predetermined limit.

Abstract: A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microprocessors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque commands and the current feedback signals.

Abstract: An elevator control system with a local area network on the traveling cable and distributed control circuit safeguard for loss of remote microprocessor control with a car door open when floor releveling distance exceeds the landing zone limit. The elevator control circuit is interactive with the car driving apparatus and with the car door circuit so that when the driving apparatus for the car is leveling the car for passenger load weight gain or loss, the car door is signaled to remain open in the zone of the target floor so long as the distance that the car moves is within the elevator safety code requirements. A time delay relay interfaced with an output channel circuit of the microprocessor times out to stop car driving apparatus if the distance limit is exceeded.

Abstract: An AC induction motor is energized by a voltage fed inverter coupled with a DC power source and is controlled in response to a torque request signal that is provided to accelerate or decelerate the motor as desired to maintain a desired torque output. The motor is operated to have each of a power and brake operation below the base speed of the motor and to have each of a power and brake operation above the base speed of the motor.

Abstract: A digital robot control is provided with digital position, velocity and torque control looping to operate joint motors associated with multiple axes of the robot. Motion programming includes planning and trajectory programs for generating position commands for the control looping on the basis of acceleration, slew and deceleration values that specify robot program specifications for timed moves.

Abstract: A digital control for a robot having a plurality of arm joints includes an electric motor for driving each of the robot arm joints and a power amplifier operable to supply drive current to each motor. Pulse width modulators generate digital control signals for the power amplifiers.Feedback control loop means for each joint motor includes at least position, velocity and torque control loops operable to control the associated power amplifier. Motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes.A position/velocity microprocessor control executes a planning program to generate a time profile including acceleration, slew and deceleration time segments for implementing each commanded robot program move.