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: Provided is an inspection robot that is self-propelled on piping, measures moisture contained in a lagging material using a mounted inspection device, for example, a neutron moisture meter, and detects risk of corrosion. The inspection robot includes a main frame 1 including a recessed part 17 fit onto an outer circumferential surface of piping P, a main frame drive mechanism (first drive mechanism) D1 that causes the main frame to advance/retract in an axis direction of the piping, a revolving member 32 supported in an advanceable/retractable manner along an arc-shaped locus in the recessed part of the main frame, a revolving member drive mechanism (second drive mechanism) D2 that moves the revolving member, and an inspection device mounted on the revolving member.

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: 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.

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 controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.

Abstract: A method and system for translating between three complementary color component slow scan video signals and a composite color slow scan video signal containing a luminance information signal within a visible line interval of each slow scan video signal line and a chrominance information signal within the non-visible portion of each slow scan video signal line. The chrominance information signal includes during the non-visible portions of alternate slow scan video signal lines, a first color difference signal derived by subtracting the luminance information signal from one of three complementary color slow scan video signals and a second color difference signal derived by subtracting the luminance information signal from another of three complementary color slow scan video signals. The three complementary color component slow scan video signals are translated into the composite color slow scan video signal for transmission.

Abstract: A modulation system wherein a carrier signal is modulated by an input signal having a variable amplitude, either analog or digital. The amplitude of the input signal is sampled every predetermined fractional cycle of the modulated signal; and the carrier signal is modulated in response to the sampled amplitude of the input signal to provide a modulated signal of which each predetermined fractional cycle has an amplitude and a duration that are inversely proportional to each other and related to the sampled amplitude of the input signal. The modulated signal is demodulated by either or both of the techniques of zero-crossing detection and peak-amplitude detection. The system is self-clocking, without discontinuous phase or amplitude changes and without DC components being introduced. The system transmits its own signal-recovering clock information and thereby permits modulation at a rate in excess of the carrier signal frequency.

Abstract: A method and system for translating between three complementary color component slow scan video signals and a composite color slow scan video signal containing a frequency modulated (FM) luminance information signal within a first frequency range of the slow scan video signal frequency band and an FM chrominance information signal within a separate second frequency range of the slow scan video signal frequency band, wherein the chrominance information signal includes a first color difference signal derived by subtracting the luminance information signal from one of three complementary color slow scan video signals and a second color difference signal derived by subtracting the luminance information signal from another of three complementary color slow scan video signals. The three complementary color component slow scan video signals are translated into the composite color slow scan video signal for transmission.

Abstract: A system for transmitting and receiving both a slow scan television signal and a voice signal over a common communication channel is disclosed. The slow scan television signal includes horizontal sync pulses provided at a predetermined rate for defining a predetermined period. The horizontal sync pulse and video information for a video scan line are contained within a first portion of the predetermined duration.A multiplexing device alternately connects either a video transceiver or an audio transceiver to the communication channel. The multiplexing device connects the video transceiver to the communication channel during the duration of a first multiplexing control signal and during the duration of a second multiplexing control signal.The first multiplexing control signal is provided in response to the slow scan television signal provided by the video transceiver and has a duration corresponding to the first portion of the predetermined period.