Patents Assigned to MacDonald, Dettwiler & Associates Inc.
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Patent number: 9950424Abstract: 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.Type: GrantFiled: June 13, 2017Date of Patent: April 24, 2018Assignee: MacDonald, Dettwiler and Associates Inc.Inventors: Paul Roberts, Stephen Bratsberg, Giuseppe Rago
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Patent number: 9764478Abstract: 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.Type: GrantFiled: July 25, 2016Date of Patent: September 19, 2017Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Paul Roberts, Jason White, Steve Fisher, Richard Rembala
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Patent number: 9688422Abstract: Herein is disclosed a tool, system and method for refueling on-orbit spacecraft. The tool and system are configured to allow for resupply of spacecraft configured to be propelled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The refueling tool is particularly suited for resupply of satellites not originally prepared for refueling but the system may also be used for satellites specifically designed for refueling.Type: GrantFiled: August 14, 2015Date of Patent: June 27, 2017Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Paul Roberts, Gavin Hay, Jason White, Geoffrey Sprawson
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Patent number: 9676096Abstract: 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.Type: GrantFiled: October 15, 2012Date of Patent: June 13, 2017Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Paul Roberts, Stephen Bratsberg, Giuseppe Rago
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Patent number: 9669950Abstract: 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 client 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.Type: GrantFiled: May 4, 2015Date of Patent: June 6, 2017Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Richard Rembala, Andrew Turner, Justin Charbonneau
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Patent number: 9399295Abstract: 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 rigidizes that grasp to ensure that the target is held as firmly as desired. The jaws can be set up to grasp gently, firmly, or even not close completely on the target. Once the jaws have sprung shut, a second mechanism draws the jaws (and their closing mechanism) back into the body of the tool pulling the captured target onto two rigidization surfaces. The mechanism keeps pulling backwards until a pre-established preload is reached at which point the target is considered suitably rigidized to the capture mechanism.Type: GrantFiled: March 15, 2013Date of Patent: July 26, 2016Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Paul Roberts, Jason White, Steve Fisher, Richard Rembala
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Patent number: 9339935Abstract: The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.Type: GrantFiled: March 21, 2014Date of Patent: May 17, 2016Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Rangaswamy Ravindran, Sean Andrew Dowling, Ming Kit Chan
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Patent number: 9333041Abstract: The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.Type: GrantFiled: May 21, 2013Date of Patent: May 10, 2016Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Benny Hon Bun Yeung, Dennis Gregoris, Bronislaw Bednarz, Michael A. Gray
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Patent number: 9285481Abstract: An object locator system for locating an object of interest in a scene. The locator system includes: a) a body mounted pedestrian localization unit worn by an operator; b) a hand-held rangefinder configured to be grasped by the operator; c) a pose sensor for estimating relative position and orientation of the hand-held rangefinder relative to the localization device; and d) a computer control system coupled to the pedestrian localization unit, the rangefinder, and the pose sensor, the computer control system being programmed to compute a relative location of the object with respect to the body worn localization unit using range data from the rangefinder and relative pose from the pose sensor, and transform the relative location to a global location using data from the pedestrian localization unit.Type: GrantFiled: August 20, 2012Date of Patent: March 15, 2016Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Piotr Jasiobedzki, Cameron Scott Dickinson, Ho-Kong Ng, Michel Bondy
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Patent number: 9260206Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.Type: GrantFiled: November 26, 2014Date of Patent: February 16, 2016Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Andrew Allen, John Lymer, Kerry Spring, Rangaswamy Ravindran
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Patent number: 9115867Abstract: The present invention provides an illuminator system comprising a dual reflector system and a linear light source. The dual reflector system comprises a primary and secondary generally cylindrical reflector, which collimate light from a linear light source in two planes. The linear light source may comprise many light emitting devices, and may emit light in a strobe or continuous fashion. The reflectors may be of many cylindrical shapes, and may include additional mirror segments to capture light otherwise not collimated. Further, the reflectors may be in various configurations of position and orientation with respect to one another, and may be adjustable in this respect. The system is more efficient than existing illuminators, is compact, all reflective (no color), lightweight, simple and inexpensive to manufacture. The system has applications to many fields including machine vision, surveillance, spectroscopic inspection of materials, and converting linear light sources into rectangular beam spot lights.Type: GrantFiled: October 19, 2010Date of Patent: August 25, 2015Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventor: Dennis Gregoris
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Patent number: 9108747Abstract: Herein is disclosed a tool, system and method for refueling on-orbit spacecraft. The tool and system are configured to allow for resupply of spacecraft configured to be propelled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The refueling tool is particularly suited for resupply of satellites not originally prepared for refueling but the system may also be used for satellites specifically designed for refueling.Type: GrantFiled: December 5, 2012Date of Patent: August 18, 2015Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Paul Roberts, Gavin Hay, Jason White, Geoffrey Sprawson
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Patent number: 9101267Abstract: The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.Type: GrantFiled: March 20, 2014Date of Patent: August 11, 2015Assignee: MACDONALD, DETTWILER AND ASSOCIATES INC.Inventors: Manickam Umasuthan, Raja Mukherji, Limin Shang
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Patent number: 8899527Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.Type: GrantFiled: November 15, 2012Date of Patent: December 2, 2014Assignee: MacDonald, Dettwiler and Associates Inc.Inventors: Andrew Allen, John Lymer, Kerry Spring, Rangaswamy Ravindran
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Publication number: 20140250684Abstract: The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.Type: ApplicationFiled: March 21, 2014Publication date: September 11, 2014Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventors: Rangaswamy RAVINDRAN, Sean Andrew DOWLING, Ming Kit CHAN
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Patent number: 8702341Abstract: The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.Type: GrantFiled: February 15, 2011Date of Patent: April 22, 2014Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Rangaswamy Ravindran, Sean Andrew Dowling, Ming Kit Chan
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Patent number: 8693730Abstract: The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.Type: GrantFiled: November 15, 2012Date of Patent: April 8, 2014Assignee: MacDonald Dettwiler & Associates Inc.Inventors: Manickam Umasuthan, Raja Mukherji, Limin Shang
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Publication number: 20140018821Abstract: The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.Type: ApplicationFiled: May 21, 2013Publication date: January 16, 2014Applicant: MACDONALD DETTWILER & ASSOCIATES INCInventors: Benny Hon Bun YEUNG, Dennis GREGORIS, Bronislaw BEDNARZ, Michael A. GRAY
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Publication number: 20130249229Abstract: 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. The jaws can be set up to grasp gently, firmly, or even not close completely on the target. Once the jaws have sprung shut, a second mechanism draws the jaws (and their closing mechanism) back into the body of the tool pulling the captured target onto two rigidisation surfaces. The mechanism keeps pulling backwards until a pre-established preload is reached at which point the target is considered suitably rigidised to the capture mechanism.Type: ApplicationFiled: March 15, 2013Publication date: September 26, 2013Applicant: MACDONALD DETTWILER & ASSOCIATES INC.Inventors: Paul ROBERTS, Jason WHITE, Steve FISHER, Richard REMBALA
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Patent number: 8532368Abstract: The present invention provides a system (method and apparatus) for creating photorealistic 3D models of environments and/or objects from a plurality of stereo images obtained from a mobile stereo camera and optional monocular cameras. The cameras may be handheld, mounted on a mobile platform, manipulator or a positioning device. The system automatically detects and tracks features in image sequences and self-references the stereo camera in 6 degrees of freedom by matching the features to a database to track the camera motion, while building the database simultaneously. A motion estimate may be also provided from external sensors and fused with the motion computed from the images. Individual stereo pairs are processed to compute dense 3D data representing the scene and are transformed, using the estimated camera motion, into a common reference and fused together. The resulting 3D data is represented as point clouds, surfaces, or volumes.Type: GrantFiled: August 15, 2011Date of Patent: September 10, 2013Assignee: MacDonald Dettwiler and Associates Inc.Inventors: Shuen Yan Stephen Se, Piotr Jasiobedzki