Abstract: The invention presents an omnidirectional system capable of collecting horizontal disparities in multiple angles. The user of the display system will be able to move its head, changing yaw and tilt. Another incarnation to the invention also allows for roll. The system is composed of a series of prisms and/or mirrors arranged in a circular pattern. The prisms or mirrors provide a 90 degree shift of the imagery collected, enabling a single camera to perform the image acquisition.

Abstract: The invention presents an omnidirectional system capable of collecting horizontal disparities in multiple angles. The user of the display system will be able to move its head, changing yaw and tilt. Another incarnation to the invention also allows for roll. The system is composed of a series of prisms and/or mirrors arranged in a circular pattern. The prisms or mirrors provide a 90 degree shift of the imagery collected, enabling a single camera to perform the image acquisition.

Abstract: The proposed method outlines a new control mechanism well-suited for small, unmanned aerial vehicles traversing in a GPS-denied areas. It has the strong advantage of simplifying the interface, so that even an untrained operator can handle the difficult, dynamic problems encountered in closed quarters. The proposed system seamlessly integrates point-and-click control with way-point navigation, in an intuitive interface. An additional advantage of the proposed system is that it adds minimal hardware to the payload of the UAV, and can possibly, strongly diminish the bandwidth and delay effects of the communication channel.

Abstract: UMAPS is a multifaceted system that can be robot-mounted, human-worn, or canine carried. UMAPS produces real-time, 3D mapping and localization for the user as they move throughout a GPS-denied environment (e.g. buildings, caves, or tunnels). An Operator Control Unit (OCU) displays information collected by UMAPS; 2D floorplans; 3D textured-enriched surfaces of the structure's interior; and the location of the users within that structure. UMAPS has an open architecture that allows it to function with any OCU. UMAPS has three distinct subsystems: obstacle maps for robot mobility, mapping, and positioning.

Abstract: The Canine Handler Operations Positioning System (the Inventors) taught by the present invention consists of one or more dog-worn sensor, one or more handler's shoe-worn sensor, and algorithms for maintaining localization of units of canines and handlers traveling in GPS and GPS-denied areas. The present invention adapts the localization algorithms from the human-based system to dogs, increase performance, reduce SWAP, and further refine the system based on user feedback. The human worn system is modified for the human handler for maximum operational practicality in regard to batteries, size, and interoperability to a radio. The Canine Handler Operations Positioning System (the Inventors) focuses on developing the dog-worn positioning system, modifying the handler's positioning sensor if needed, and integrating the system with an OCU. The complete the Inventors system would provide a positioning solution for both the dog(s) and handler(s).

Abstract: An apparatus and method for multi-stage printing teaches means for removing and replacing a printed component during the printing process and accurately placing the component in the printer for continuation of the printing process. This can be accomplished through the use of a scanner, probe machine, or scanning Additionally, the present invention teaches the use of heating means in combination with a 3D printer to overcome additional issues with multi-sage printing.

Abstract: The present invention is a method and system for using a 3D printer for printing various tunable antennas. In one embodiment, and exponent antenna is created by printing a board using a 3D printer in combination with vacuum metallization to create the antenna and provide engineered break points for adjusting the printed antenna for the most effective gain. In another embodiment, a spiral cavity backed antenna is printed using a combination of a 3D printer and vacuum metallization. In a third embodiment, a horn antenna is printed using a combination of a 3D printer engineered break points for adjustment and a hinged version with an actuator creating a new antenna.

Abstract: The proposed system, Delayed Telop Aid (DTA), improves the teleoperator's ability to control the vehicle in a three step process. First, DTA predicts robot motion given the operators commands. Second, DTA creates synthetic images to produce a video feed that looks as if the robot communication link had no delay and no reduced bandwidth. Finally, DTA performs closed loop control on the robot platform to ensure that the robot follows the operator's commands. A closed loop control of the platform makes sure that the predicted pose after the delay (and therefore the image presented to the operator) is achieved by the platform. This abstracts away the latency-sensitive parts of the robot control, making the robot's behavior stable in the presence of poorly characterized latency between the operator and the vehicle.

Abstract: The Canine Handler Operations Positioning System (the Inventors) taught by the present invention consists of one or more dog-worn sensor, one or more handler's shoe-worn sensor, and algorithms for maintaining localization of units of canines and handlers traveling in GPS and GPS-denied areas. The present invention adapts the localization algorithms from the human-based system to dogs, increase performance, reduce SWAP, and further refine the system based on user feedback. The human worn system is modified for the human handler for maximum operational practicality in regard to batteries, size, and interoperability to a radio. The Canine Handler Operations Positioning System (the Inventors) focuses on developing the dog-worn positioning system, modifying the handler's positioning sensor if needed, and integrating the system with an OCU. The complete the Inventors system would provide a positioning solution for both the dog(s) and handler(s).

Abstract: A system that enables a vehicle to follow a traffic rule when traveling in a road network includes a database that stores data relating to at least one feature of the road network, a location detector that detects a location of the vehicle relative to the road network, a sensor that senses at least one object in a vicinity of the vehicle, and a processing system that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, data retrieved from the database relating to at least one feature of the road network, and data relating to at least one object sensed by the sensor.

Abstract: UMAPS is a multifaceted system that can be robot-mounted, human-worn, or canine carried. UMAPS produces real-time, 3D mapping and localization for the user as they move throughout a GPS-denied environment (e.g. buildings, caves, or tunnels). An Operator Control Unit (OCU) displays information collected by UMAPS; 2D floorplans; 3D textured-enriched surfaces of the structure's interior; and the location of the users within that structure. UMAPS has an open architecture that allows it to function with any OCU. UMAPS has three distinct subsystems: obstacle maps for robot mobility, mapping, and positioning.

Abstract: An after-action, mission review tool that displays camera and navigation sensor data allowing a user to pan, tilt, and zoom through the images from front and back cameras on an vehicle, while simultaneously viewing time/date information, along with any available navigation information such as the latitude and longitude of the vehicle at that time instance. Also displayed is a visual representation of the path the vehicle traversed; when the user clicks on the path, the image is automatically changed to the image corresponding to that position. If aerial images of the area are available, the path can be plotted on the geo-referenced image.

Abstract: A control system for a remotely operated vehicle is disclosed. The control system includes a sensor tracking system configured to sense the remotely operated vehicle. The control system is coupled to the sensor tracking system and is configured to remotely control the remotely operated vehicle. The control system includes a synthetic view generator configured to construct a virtual model of the remotely operated vehicle and its surrounding environment based upon an input from the sensor tracking system. The control system also includes a graphical user interface configured to display a synthetic view of the virtual model. In addition, the control system includes a synthetic viewer control configured to manipulate an orientation of the synthetic view.

Abstract: An advanced object detector, system and method comprising a memory device which contains a library of tailor-made signals and specific object resonances with those signals; an antenna which will act as both the exciter and receiver directing the memory device's tailor-made signals towards locations potentially having the objects intended to be detected and receiving resonated signals from said objects being detected which have resonated with said tailor-made signals; said memory device may then interpret and categorize the resonated signal by comparing the resonated signal with the library of specific objects and their resonance's with specific tailor-made signals. After identification and categorization the memory device may then respond to the presence of the object, alert another memory device for interaction or allow for human interaction through outputting the object's presence on a screen or alerting the human through some other means.

Abstract: A control system for a remotely operated vehicle is disclosed. The control system includes a sensor tracking system configured to sense the remotely operated vehicle. The control system is coupled to the sensor tracking system and is configured to remotely control the remotely operated vehicle. The control system includes a synthetic view generator configured to construct a virtual model of the remotely operated vehicle and its surrounding environment based upon an input from the sensor tracking system. The control system also includes a graphical user interface configured to display a synthetic view of the virtual model. In addition, the control system includes a synthetic viewer control configured to manipulate an orientation of the synthetic view.

Abstract: A system that enables a vehicle to follow a traffic rule when traveling in a road network includes a database that stores data relating to at least one feature of the road network, a location detector that detects a location of the vehicle relative to the road network, a sensor that senses at least one object in a vicinity of the vehicle, and a processing system that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, data retrieved from the database relating to at least one feature of the road network, and data relating to at least one object sensed by the sensor.

Abstract: In a device having a first member and a second member which are driven relative to one another by an actuator, a servocontrol derives feedback by sensing the torque applied on one of the members by the actuator. The actuator drive signal is modified by a compensation network in response to the torque measurement to provide stability across a bandwidth extending beyond the resonant frequency of the members, thereby providing smooth, accurate and precise motion.

Abstract: A real time directional orientation apparatus is disclosed for use in a four pi (4.pi.) geometry. The apparatus is to be affixed to an object which translates in space. A source emitter means, which may be radioactive, is suspended in a fluid in concert with a magnet. A bank of emission detectors registers the orientation of the source emitter or emitters against a known starting value. As the object translates in space, so does its position and orientation, thus causing the magnet to adjust its position in reference to an external magnetic field, such as, but not limited to, the earth's magnetic field. The motion of the magnet causes the emitter or emitters orientation to change which is sensed by the emission detectors as both a change in intensity and position. This data is processed by a computer and with ancillary data provided by other sensors provides real time position, path and other navigational, directional and positional data, such as pitch, yaw, attitude and roll.

Abstract: A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

Abstract: A linkage mechanism, such as an industrial robot, comprises an electronic motion controller and a set of self-driven joints. A controller receives a series of end effector positions from memory or from a host control system which define a routine for the mechanism to execute in relation to a predetermined reference frame such as cartesian coordinates. Angular values for the joints are computed in real time which follow the predetermined reference frame values in a manner which avoids the problems of singularities and which efficiently accommodates kinematic redundancy. A corresponding drive signal is generated for each joint.