Abstract: We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable object between two configurations. This implemented planner is capable of dealing with complicated tasks where regrasping is involved. We have demonstrated the capability of this planner to generate realistic human arm motions involved in the manipulation of objects.

Abstract: A composition for chemical mechanical polishing includes a slurry. A sufficient amount of a selectively oxidizing and reducing compound is provided in the composition to produce a differential removal of a metal and a dielectric material. A pH adjusting compound adjusts the pH of the composition to provide a pH that makes the selectively oxidizing and reducing compound provide the differential removal of the metal and the dielectric material. A composition for chemical mechanical polishing is improved by including an effective amount for chemical mechanical polishing of a hydroxylamine compound, ammonium persulfate, a compound which is an indirect source of hydrogen peroxide, a peracetic acid or periodic acid. A method for chemical mechanical polishing comprises applying a slurry to a metal and dielectric material surface to produce mechanical removal of the metal and the dielectric material.

Abstract: A system that performs analysis and comparison of audio data files based upon the content of the data files is presented. The analysis of the audio data produces a set of numeric values (a feature vector) that can be used to classify and rank the similarity between individual audio files typically stored in a multimedia database or on the World Wide Web. The analysis also facilitates the description of user-defined classes of audio files, based on an analysis of a set of audio files that are members of a user-defined class. The system can find sounds within a longer sound, allowing an audio recording to be automatically segmented into a series of shorter audio segments.

Abstract: The addition of a gaseous source of hydrogen radicals, such as hydrogen, ammonia or methane to oxide RIE etching chemistries, in amounts of from about 5 to about 20 percent by volume of the total gas flow, will increase the oxide etch rate while suppressing the polysilicon etch rate. This effect is more pronounced at lower wafer temperatures. This new process chemistry increases the oxide etch rate to greater than 5000 .ANG./min., improves the selectivity to polysilicon to greater than 25:1 and improves the selectivity to photoresist to greater than 6:1, without having a significant detrimental effect on the profile angle, the RIE lag and the etch rate uniformity. Selectivities of 50:1 have been achieved with less than 15% RIE lag using the chemistry CHF.sub.3, Ar, CF.sub.4 and NH.sub.3, with NH.sub.3 constituting 10 percent by volume of the gas flow.

Abstract: A method for making a fluid lamp assembly which includes a fiberglass wick, consisting of approximately 100 individual fibers in a bundle, is inserted in a glass tube, adjusted with its tip a desired distance above opening, and fused in place by heating to 600 degrees Centigrade for 20 minutes. Fusing temperatures of from about 500 to 600 degrees Centigrade may be employed, for times of from about 10 minutes to about one hour, with a longer fusing time employed with lower temperatures. This provides a premanent wick that is not consumed in use of the lamp assembly.

Abstract: A precision centerable, rotatable shaft assembly (60) has a shaft (62) and a housing (64) extending generally axially along the shaft (62). The shaft (62) is journalled to the housing (64) by a first roller bearing assembly (66) and a second roller bearing assembly (68). The first roller bearing assembly (66) is connected to the shaft (62) near end (80) and a second roller bearing assembly (68) is connected to the shaft (62) near end (83). The first roller bearing assembly has a first inner race (70) fixedly attached to the shaft (62) and a first outer race (74) fixedly attached to the housing (64). The outer race has an inner surface (78) tapering toward the shaft (62) approaching the end of the shaft (62). The second roller bearing assembly has a second inner race (82) fixedly attached to the shaft (62) and a second outer race (86) axially movable within the housing (64) toward the first roller bearing (66).

Abstract: A tile game uses a first plurality of tiles (12) having binary numbers shown on them. The tiles (12) are assembled in strings (32) by matching beginning and/or ending digits. A second plurality of tiles (14) have computer and plug indicia (22 and 24). They are incorporated in the strings (32) to validate potential scores represented by the first plurality of tiles (12) in the strings (32). A third plurality of tiles (16) show blown fuses and are used to cancel the validated potential scores in the strings (32). The tiles (12), (14) and (b 16) are divided into differentiated sets for separate use by players of the game.

Abstract: A graphics protractor (10) for placement on a computer display screen (52) to determine direction changes for graphics commands has a circular ring (12) bearing indicia (14) representing relative angles with respect to a point (16) of origin on the ring (12). First and second sheets (18,20) through which display screen (52) is visible are rotatable with respect to the ring (12). The sheets (18,20) each have a straight line (44) movable into and out of registration with respect to the straight line (44) of the other sheet (20,18) by rotation of the sheets (18,20) within the ring (12). The sheets (18,20) have a graphics symbol (28) centrally located with respect to the ring (12), which is placed over a corresponding graphics symbol (50) on the computer display screen (52) to use the protractor (10).

Abstract: An apparatus (10) for the repetitive dispensing of a predetermined quantity of eyedrops (12) has a cylinder (14) with a restricted opening (18) at a first end (16). A plunger (20) attached to rod (23) extends into the cylinder (14) from end (22). Biasing member (28) has a ramped cam surface (32) incorporating a pair of steps (46), actuating member (26) has an opposed surface (30) with a projection (44) which rides on ramped cam surface (32) and drops off step (46) when actuating member (26) is rotated. Rotation of the actuating member (26) also advances the actuating member (26) on threaded member (24). Spring (42) biases surfaces (30) and (32) together. A projection (44) drops over each step (46), plunger (20) is moved incrementally toward end (16) of cylinder (14) to discharge eyedrops (12) through opening (18 ). A disposable cartridge (50) may be substituted for the cylinder (14).

Abstract: An optical sensor system (10) in the form of a hand held tonometer probe has an infrared emitting diode (34) and a phototransistor detector (36) positioned to receive light from the diode (34). A rod (18) serves as a variable attenuator to intercept a portion of light from the diode (34) directed at the detector (36). A signal level detecting amplifier (104) is coupled to the detector (36) to receive an output signal from the detector (36) in response to light from the diode (34) received by the detector (36). The amplifier (104) has a non-inverting input (102) and an inverting input (106). The amplifier (104) receives the output signal from detector (36) at non-inverting input (102). A +5 volt reference potential is connected through a variable resistor (110) and a resistor (108) to establish a bias at the inverting input (106) which is approximately equal to signal levels supplied by the detector (36) to the non-inverting input (102).

Abstract: A filling apparatus (20) for a syphon package has a pivotally movable cradle (26A, 26B, 26C) configured to receive a syphon bottle 1 in a first orientation. A permanent syphon filling head (38A, 38B, 38C) is near necked opening (2) of the bottle when the bottle is loaded in the cradle (26A). Arms (28A, 28B, 28C, 30A, 30B, 30C) move the cradle (26A, 26B, 26C) from the first orientation to the second orientation in which the necked opening (2) of the bottle (1) is directed downward. Linkages (42A, 42B, 42C, 44A, 44B, 44C) and plate (40A, 40B, 40C) urge the bottle (1) into engagement with the filling head (38). Rod (106) depresses lever (50) to activate filling head (38) for opening valve (4) in the neck ( 2) of the bottle (1). Lines (43A, 43B, 43C) supply liquid under pressure to the filling head (38). Lines (45A, 45B, 45C) remove gas from the bottle (1) during filling of the bottle (1) with the liquid (8).

Abstract: An analog to digital flash converter provides a multiple bit, parallel output arranged in more significant to less significant bits. The converter includes a voltage to current converter for providing an analog signal as an input current to a plurality of parallel converter stages. A reference signal input is independent of the analog signal input. Each of the converter stages receives the analog input current. Each stage has a comparator for comparing the analog input current with a dependent signal derived from the reference signal. The comparators are connected so that the dependent signal for each comparator is derived from the reference signal on the basis of outputs from each comparator of more significant bit stages. The dependent signal for each stage is derived by means of a switch in each stage connected to receive the output of the comparator in the next adjacent more significant bit converter stage, to control operation of the switch.

Abstract: A camera case (10) has a camera body enclosing portion (12) and a lens enclosing portion (14). The portions (12) and (14) are joined by means of ring assembly (16) which permits the lens enclosing portion (14) to rotate with respect to the camera enclosing portion (12) while the two portions are joined together. A flexible fabric section (62) joins the ring assembly (16) to the remainder of the lens enclosing portion (14).

Abstract: A bracket (90) fixedly supports a structural member (120) with respect to an aperture (128). The bracket (90) has a semicircular cross section body (100) with one end portion (94) for placement on the structural member. A second end portion (96) extends into aperture (128). The bracket body (100) has a plurality of longitudinally extending corrugations (92) along the body. A wedge shaped driving member (98) extends outward from the body (100) and extends between the first and second body portions (94) and (96). A clamp (130) and/or screws (188) fasten the first bracket body portion (94) to the structural member (120) or (180). In use, the bracket (90) is driven into the aperture (128) by striking the driving member (98). The driving member (98) and the corrugations (92) coact with the aperture (128) to provide a camming action, which expands the bracket body end (96) in at least one dimension to hold the bracket (90) tightly in the aperture (128).

Abstract: An imaging sensing system (10) has a laser light source (12). Steering mirrors (16), (18) and (22) are used with scanning mirror (20) to produce scanning of beam (24) in a line (26) across a workpiece (28). Beam (36) is reflected from the workpiece (28) and directed to a linear photodiode array (38) by the scanning mirror (20). The scanning mirror (20) is connected to a galvanometer (40) to move the beams (24) and (36), both for scanning the workpiece (28) and for supplying the scanned image in sequential fashion to individual linear diodes (42) in the array (38).

Abstract: A solvent delivery system (10) has first and second pistons (92, 94) and cylinders (58, 68) connected to first and second cams (110, 112). The cams (110, 112) each have a ramped portion (150, 162) and an abrupt step (152, 164). The first cylinder (58) is connected to solenoid valves (44, 46, 48) to fill the first cylinder with solvent components during movement of cam follower (104) along ramped portion (150) of the first cam (110). Spring (140) urges the first piston (92) forward into first cylinder (58). Movement of the cam follower (104) over the step (152) of the cam (110) moves the piston (92) forward abruptly to force the solvent components from cylinder (58) into second cylinder (68). Spring (178) urges piston (94) back in cylinder (68). The second cam (112) is reversed relative to first cam (110). Movement of cam follower (106) over abrupt step (164) of second cam (112) moves second piston (94) back abruptly in cylinder (68) to receive and mix the solvent components in the cylinder (68).

Abstract: A microprocessor integrated circuit (50) has a read only memory (ROM) (400) which is X and Y addressible and is word, bit and page oriented. The microprocessor integrated circuit (50) has a main injector bus (602) and a ground return bus (604) with a branch ground bus (608) connected to the ground return bus (604) through a ground-balancing resistor (610) in a data path. The circuit (50) has a register file (82) with registers (622) connected to a local bus (604). The local busses (604) are connected to a main bus (602) through a multiplexer (605). The microprocessor integrated circuit (50) includes a D-type flip-flop circuit (700) with asynchronous clear and preset. A latch dual port random access memory (RAM) circuit (900) is employed in the register file (82) of the microprocessor integrated circuit (50).

Abstract: A breakdance doll (10) has a body (11) having a back (12), buttocks (13), and a neck (38) joining a head (40) to the body (11). The back (12) has a laterally extending slot (24) positioned between chest height and the buttocks (13). A rotatable drive wheel (22) extends from the slot (24) and is connected to a motor (26) mounted in the body (11) above the slot (24) by shaft (28). The motor (26) and a battery (36) are positioned to provide a suitable weight distribution for the doll (10), so that the doll (10) will pivot about a point (16) on the back (12) above the slot (24) as the drive wheel (22) rotates.

Abstract: A workpiece positioning mechanism (10, FIG. 1) includes a movable arm (12) having a plurality of joints (14). A pair of grippers (26 and 28) are movable toward and away from a semiconductor wafer boat (44). The grippers are held in position by a stop member (70, FIG. 4) when they engage the boat (44) and locked in an open position by prongs (86). A solenoid (30) is actuated to allow the grippers to move between their open and closed positions. Flexible bellows (22 and 94) and tubing (24) surround moving parts (e.g., 14, 62, 64, 66, 80) of the mechanism (10) to prevent contamination of the semiconductor wafers (52).