Abstract: The present disclosure provides a robotic printing system for printing images on the surface of an object. One exemplary system includes a printing module carried by a motion platform to directly eject printing materials on a surface. One aspect of this disclosure provides methods for accurately controlling the motion of the motion platform, generating accurate triggering signals for printing heads, and properly aligning adjacent swaths of an image.

Abstract: The present disclosure provides a driving assistance method and system for a mobile vehicle to avoid hazards in its environment. This system can detect hazards in a vehicle's surroundings and unobtrusively adjust its driving module's driving commands when necessary to avoid hazards. The system is configured to allow it to provide interference-free assistance to the operator of a human-operated vehicle or the motion controller of an autonomous vehicle to avoid hazards.

Abstract: The present disclosure relates to a low mass system for releasably securing a robotic arm to a spacecraft and also securing various payloads to the robotic arm and to each other, permitting the robotic arm to be both moved from one location to another suitably equipped location on a spacecraft to another and to allow the free end of the robotic arm to be secured to any payload also similarly equipped such that this payload may be manipulated by the robotic arm.

Abstract: The present disclosure provides a robotic printing system for printing images on the surface of an object. One exemplary system includes a printing module carried by a motion platform to directly eject printing materials on a surface. One aspect of this disclosure provides methods for accurately controlling the motion of the motion platform, generating accurate triggering signals for printing heads, and properly aligning adjacent swaths of an image.

Abstract: The present disclosure relates to a mechanism for releasably securing components of a spacecraft together during launch until such time as the mechanism is commanded to release those components. Upon command, the components are then released with extremely low shock forces being transmitted to the previously secured components due to the release.

Abstract: An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

Abstract: The present disclosure provides a method and system by which a precise amount of a viscous fluid sealing compound can be dispensed at required locations through computer vision-based observation of the fluid deposited, its rate and amount of deposition and location; and that the dispensed fluid may be accurately shaped through robotic or other special purpose mechanism motion. The invention enables instant quality inspection of the dispensing process in terms of the locations, amounts and shapes of newly created seals.

Abstract: An instrument and method for non-invasively deriving at least one biometric datum of a living vertebrate. A sensor positioned against the vertebrate measures vibrations within its body. The sensor provides the samples to the instrument as at least one time-stamped stream that correspond to one or more linear and/or rotational acceleration measurement axes. The instrument organizes the samples into windowed streams, separates them into a first set of streams corresponding to physical events of the vertebrate associated with cardiovascular activity and a second set of streams corresponding to physical events of the vertebrate associated with respiration. A datum can be extracted from the first set by autocorrelating it with a time-delayed version thereof to identify at least one characteristic peak of the vertebrate's cardiac cycle. A datum can be extracted from the second set by determining a characteristic frequency of respiration of the vertebrate.

Abstract: The present disclosure relates to a low mass system for releasably securing a robotic arm to a spacecraft and also securing various payloads to the robotic arm and to each other, permitting the robotic arm to be both moved from one location to another suitably equipped location on a spacecraft to another and to allow the free end of the robotic arm to be secured to any payload also similarly equipped such that this payload may be manipulated by the robotic arm.

Abstract: The present disclosure relates to a mechanism for releasably securing components of a spacecraft together during launch until such time as the mechanism is commanded to release those components. Upon command, the components are then released with extremely low shock forces being transmitted to the previously secured components due to the release.

Abstract: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset centre of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to centre of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset centre-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.

Abstract: There is disclosed a Payload Ejection System (PES) able to store any set of payloads for launch and eject that set of payloads at a controlled speed with a low tumble rate while accommodating any offset center of mass within a restricted volume. The need for ballasting or balancing is eliminated thus freeing up the design space for these payloads. Insensitivity to center of mass location is enabled by the use of a deployment hinge assembly arrangement which uses two or more non-parallel folding hinge arrangements that allow for linear motion of the output link in one direction while restricting the motion all other directions. One embodiment of the current PES concept uses four (4) hinge panel assemblies, selected to provide optimal stiffness around the entire mechanism. The stiffness of the PES is integral to managing offset center-of-mass locations by allowing the mechanism to translate the effective force vector to the center of mass location.

Abstract: Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

Abstract: Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

Abstract: The present invention provides a capture mechanism for capturing and locking onto the Marman flange located on the exterior surfaces of spacecraft/satellites. The capture mechanism achieves its goal of quickly capturing a target spacecraft by splitting the two basic actions involved into two separate mechanisms. One mechanism performs the quick grasp of the target while the other mechanism rigidises that grasp to ensure that the target is held as firmly as desired. To achieve a speedy grasp, the grasping action is powered by springs and an over-centre mechanism triggered either mechanically by a plunger or electronically by sensors and a solenoid. This forces two sets of jaws, one on either side of the object to be grasped, to close quickly over the target object. The jaws can be set up to grasp gently, firmly, or even not close completely on the target. The key is that they must close tightly enough so that the protrusions on the target cannot escape from the jaws due to any possible motions of the target.