Abstract: An example method includes storing surface treatment data to specify at least one selected surface treatment to apply at a target location along a vehicle path of travel, the surface treatment data including a machine-readable description and a reference coordinate frame for the selected surface treatment. The method also includes generating task plan data to apply the selected surface treatment based on the surface treatment data and at least one parameter of an application tool. The method also includes determining a location and orientation of the application tool with respect to the vehicle path of travel based on location data representing a current location of a vehicle carrying the application tool. The method also includes computing a joint-space trajectory to enable the application tool to apply the selected surface treatment at the target location based on the task plan data and the determined location of the application tool.

Abstract: An example method includes storing marking data to specify at least one selected marking to apply at a target location along a vehicle path of travel, the marking data including a machine-readable description and a marking reference coordinate frame for the selected marking. The method also includes generating task plan data to apply the selected marking based on the marking data and at least one parameter of an application tool. The method also includes determining a location and orientation of the application tool with respect to the vehicle path of travel based on location data representing a current location of a vehicle carrying the application tool. The method also includes computing a joint-space trajectory to enable the application tool to apply the selected marking at the target location based on the task plan data and the determined location of the application tool.

Abstract: An example method includes storing marking data to specify at least one selected marking to apply at a target location along a vehicle path of travel, the marking data including a machine-readable description and a marking reference coordinate frame for the selected marking. The method also includes generating task plan data to apply the selected marking based on the marking data and at least one parameter of an application tool. The method also includes determining a location and orientation of the application tool with respect to the vehicle path of travel based on location data representing a current location of a vehicle carrying the application tool. The method also includes computing a joint-space trajectory to enable the application tool to apply the selected marking at the target location based on the task plan data and the determined location of the application tool.

Abstract: A selectively lockable orthotic joint is provided in which a pressure sensor having a thin layer of variably resistive material generates a control signal when an actuation force is applied to the sensor. An electronic circuit operatively connects the sensor to a mechanical orthotic joint that can be selectively locked and unlocked in response to the control signal. The control signal may be uniform in strength selectively locking and unlocking the joint. The control signal may also be variable in strength wherein the orthotic joint provides increasing or decreasing resistance to motion responsive to a corresponding increase or decrease in control signal strength. The device is suitable for use as a foot/ankle/leg orthotic having a foot sensor which selectively operates a mechanical knee joint.

Abstract: Brushless repulsion motors are presented, in which rotor coils switching signal detectors are selectively located in spaced angular relationship on the rotor and signaling sources are distributed around all or most of the stator circumference to allow looser tolerances for motor manufacturing and improved controllability of rotor coil actuation during operation. Asymmetric stator poles are also provided for brushless repulsion motors to mitigate torque ripple and vibration, in which the shape of the stator pole tips is tailored by varying the angular length of the pole section.

Abstract: A selectively lockable orthotic joint is provided that in one embodiment includes at least one pressure sensor and an electronic circuit associated with the pressure sensor for generating or providing a control signal indicative of pressure, force or other value sensed by the sensor. A mechanical orthotic joint is provided that has a locking mechanism that can be selectively locked and unlocked in response to the control signal.

Abstract: A mechanical filter and control system combination for a robot or manipulator is provided. The control system directs movement of the manipulator based on feedback of sensed contact force on the manipulator. The mechanical filter is arranged between the force sensor and the end effector of the manipulator to perform positive real compensation of the admittance response of the manipulator produced by just the force feedback control system. The mechanical filter can consist of a spring and a damper arranged in parallel.

Abstract: A selectively lockable orthotic joint is provided that in one embodiment includes at least one pressure sensor and an electronic circuit associated with the pressure sensor for generating or providing a control signal indicative of pressure, force or other value sensed by the sensor. A mechanical orthotic joint is provided that has a locking mechanism that can be selectively locked and unlocked in response to the control signal.

Abstract: A selectively lockable orthotic joint is provided that in one embodiment includes at least one pressure sensor and an electronic circuit associated with the pressure sensor for generating or providing a control signal indicative of pressure, force or other value sensed by the sensor. A mechanical orthotic joint is provided that has a locking mechanism that can be selectively locked and unlocked in response to the control signal.

Abstract: An apparatus for forming an integral three-dimensional object from a plurality of individual laminations includes a cutting surface on which each of the laminations is individually deposited. A concentrated energy source cuts each of the plurality of laminations into a shape required for assembly of the laminations into the integral three-dimensional object. A transfer mechanism removes each of the cut laminations from the cutting surface and stacks each of the cut laminations on an assembly surface. The transfer mechanism includes a gripper face having a peripheral portion and a central portion. A mask is positioned on the gripper face. The mask has an apertured central portion corresponding to the cut lamination. A source of suction communicates with the gripper face and a valve mechanism selectively draws a suction on the gripper face peripheral portion, the gripper face central portion, both or neither.

Abstract: An apparatus for forming an integral three-dimensional object from a plurality of individual laminations includes a cutting surface on which each of the laminations is individually deposited. A concentrated energy source cuts each of the plurality of laminations into a shape required for assembly of the laminations into the integral three-dimensional object. A transfer mechanism removes each of the cut laminations from the cutting surface and stacks each of the cut laminations on an assembly surface. The transfer mechanism includes a gripper face having a peripheral portion and a central portion. A mask is positioned on the gripper face. The mask has an apertured central portion corresponding to the cut lamination. A source of suction communicates with the gripper face and a valve mechanism selectively draws a suction on the gripper face peripheral portion, the gripper face central portion, both or neither.

Abstract: A method for manufacturing an integral three dimensional object from laminations includes the steps of fabricating a plurality of first sheets of a first material composition, cutting each of the first sheets to form a contoured layer representing a cross-section of the three dimensional object and to form a waste material and discarding the waste material. The contoured layers are stacked in a desired sequence to form a stack of contoured layers which are then laminated. Subsequently, the contoured layers of the stack are secured to each other to form the integral three dimensional object. This method works particularly well with ceramic material sheets. If desired, a second type of sheet made of a fugitive material can also be cut to form a contoured layer representing a void in a cross-section of the three dimensional object. The contoured layers of the second sheets are then stacked along with the contoured layers of the first sheets to form the object.

Abstract: An ultrasonic scanning device includes a stator and a rotor pivotably mounted on the stator for oscillation around the axis of rotation. The rotor (or stator) has two elastic bumper stops spaced from the axis of rotation and spaced from each other. An elastic bumper is attached to the stator (or rotor) and arranged between the bumper stops. The resulting scanning device conserves energy by converting kinetic energy in one direction to potential energy, and then by converting the potential energy back into kinetic energy in the opposite direction.

Abstract: A motor for rectilinear stepping over a multiplicity of fine steps, or controlled synchronous reciprocation over a relatively long stroke. Electric coils are arranged in what is preferably an outer stator having two sections separated by an axially poled permanent magnet. Each section is formed by a series of magnetic-pole-defining members, successive members being indexed angularly by the angle between adjoining slots. A displacer has an axially extending series of magnetizable ring surfaces, separated by circumferential gaps having an axial length preferably equal to two displacer members. Operating as a stepping motor, energization of one stator coil increases magnetic flux in those stator members of a section having the same angular alignment, and attracts displacer teeth into alignment with those stator members.

Abstract: A helically-threaded spring holder on which a helically wound spring is mounted has a groove formed in one side of the thread at the end where the spring engages the spring holder. The groove relieves the portion of the side in which it is formed from restricting the spring against axial movement during deflection of the spring. The circumferential length of this groove is chosen to establish the number of spring coils which can be deflected without contacting the side of the thread. The end of the thread is also made rigid to prevent flexing thereof during maximal elongation of the spring.

Abstract: A linear stroke reciprocating electric machine provides both high efficiency and linearity. A cylindrical air gap is defined between outer and inner gap defining surfaces, at least one of which has a length equal to the length of an electric coil plus the length of the stroke. A flux focusing ring, having a length in the direction of movement equal to the length of the coil in the same direction, concentrates substantially all the field flux and all of the electric coil turns to interact over the entire stroke.

Abstract: A vibration compensation system for actively attenuating the vibration of a machine. The machine has a housing, with respect to which vibration is to be damped, and at least one body moving within the housing. The vibration compensation system includes a countermass capable of being linearly reciprocated relative to the housing in a direction parallel to the motion of the moving body within the machine. A motor, coupled to the housing, drives the countermass. Elements are provided for sensing the position, or any time derivative or time integral thereof, relative to the housing of the moving body and the countermass. control elements supply power to the motor in response to the signal outputs from all of the sensors so that the acceleration of the countermass is in a direction opposite the acceleration of the moving body. The magnitude of the acceleration of the countermass is equal to the product of the acceleration of the moving body multiplied by its mass divided by the mass of the countermass.