Abstract: Systems and methods are provided for performing the required phase calculation in a telecommunications system in order to optimize system performance more quickly and with reduced complexity as compared to prior approaches to solving this problem. In accordance with the preferred exemplary embodiment of the present invention, the phase delay of the precursor equalizer (EQ) is calculated off-line and as a result it is not necessary to fill the precursor EQ delay line with the indicated number of symbols as in the previous approach. Additionally, because the precursor EQ is fractionally spaced, both sine and cosine values of the 4kHz tone's initial phase can be achieved simultaneously. As a result, only 36 quick timing sequence (QTS) symbols are needed in order to perform the required estimation.

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract: A deployable and retractable space frame structure which requires no assembly, and can be either manually or automatically activated. It comprises rigid end rings or the like which attach to a multitude of spaced trusses of generally slender aspect ratio. The trusses are fabricated of two or more generally rigid, beam like strips which are hinged so as to become very flexible and non rigid when hinged strip elements lie planarly flattened, thus allowing the structure to collapse into a minimum volume state. In this configuration truss beams assume a curvature approximating the curvature of the structure end rings. Upon deployment, the truss beams become straight, and hinged beam-like strips fold to create a triangular cross sectional moment of inertia to become very rigid and straight.

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract: An improved data compression system and method is disclosed. The data compression method uses smaller fixed bit words to represent streams of digital data. The fixed bit words are sent instead of the streams of digital data. A table relating the fixed bit words and streams of digital data is provided as a dictionary. Each entry has a node which is indexed in a stored index. As additional fixed bit words are established for new streams of digital data, older fixed bit words are deleted from the dictionary. The older fixed bit words are prevented from being deleted if they are used for subsequent streams of data. There are a number of methods to determine how the older fixed bit words are retained which are disclosed.

Abstract: A robotic apparatus for the cleaning and maintenance of coal fired boilers, which is designed to operate in the high temperature environment of the combustion gasses to effectively clean and remove slag deposits of the boiler heat transfer surfaces by use of a precision directed, low pressure, low flow rate water stream. The robotic cleaning apparatus is comprised of lightweight carbon fiber structural elements, attached to the exterior of the boiler, and cooled by annular pressurized water sheaths impingent on a thin metal skin covering the lightweight structural elements. Multiple articulated joints allow for complete access to the heat transfer surfaces of the boiler. A variety of payloads can be delivered to specific points within the boiler, including imaging systems, cutting, and welding apparatuses. A mathematical state space control matrix allows for optimal positioning and feedback control of motions.

Abstract: A fluid actuator having a honed metallic sleeved inner liner assembled with fitted end caps. The inner liner and end caps are wound with carbon reinforced fiber filaments in both longitudinal and hoop orientations so as to withstand increased fluid pressure over traditional metallic designs. The fluid actuator of the present invention is lightweight and had an extremely stiff piston and rod assembly, which may also be fabricated from high flexural modulus composite materials so as to allow for a very stiff, lightweight, hydraulic cylinder which is particularly resistant to column buckling at long extensions and comprises an economical, non-rebuildable design.

Abstract: Abrasive cleaning and decontamination methods and systems are disclosed. The methods and systems use a high pressure liquefied gas, such as carbon dioxide, which produces insignificant quantities of secondary waste. These principles of the invention exploit the properties of the relatively high triple point of CO2 in order to first pressurize it to 35,000 to 60,000 PSI from a pressurized liquid. In the pressurized state, such a fluid can be at or above room temperature, allowing for transport over long distances in a flexible high pressure hose. At a point of use, a heat exchanger may subsequently chill the liquid, so that after expansion through a small high pressure orifice, a significant fraction of the liquid is converted to solid phase crystals exiting at high velocity to effectively clean and decontaminate. For more aggressive cleaning, abrasive particles and/or small diameter solid CO2 pellets can be entrained into the high pressure CO2 slipstream.

Abstract: A storage compartment and integrated tailgate worksurface is disclosed. The storage compartment is easily retrofitable to any standard or light duty pick-up truck bed. A parallel linkage mechanism and integrated power unit can raise and lower the storage compartment without rotation, thereby keeping objects in an initial desired orientation and placement within the compartment. The parallel linkage system also facilitates adjustment of the integrated tailgate work surface to convenient working heights.

Abstract: Systems and methods are provided for performing the required phase calculation in a telecommunications system in order to optimize system performance more quickly and with reduced complexity as compared to prior approaches to solving this problem. In accordance with the preferred exemplary embodiment of the present invention, the phase delay of the precursor EQ is utilized for estimating the entire DFE phase shift by calculating the estimation exclusively based on an output of the precursor EQ this estimation is then used for adjusting the timing phase based on the phase estimation.

Abstract: Systems and methods are provided for performing the required phase calculation in a telecommunications system in order to optimize system performance more quickly and with reduced complexity as compared to prior approaches to solving this problem. In accordance with the preferred exemplary embodiment of the present invention, the phase delay of the precursor EQ is calculated off-line and as a result it is not necessary to fill the precursor EQ delay line with the indicated number of symbols as in the previous approach. Additionally, because the precursor EQ is fractionally spaced, both sine and cosine values of the 4 kHz tone's initial phase can be achieved simultaneously. As a result, only 36 QTS symbols are needed in order to perform the required estimation.

Abstract: A conventional computer is coupled to an analog telephone transmission link by means of an analog/digital conversion interface adapter. Modem transmission is accomplished by performing the modulation and demodulation functions digitally in the computer's existing processor which executes programs which transfer data between the computer's memory and the interface adapter. Using the same interface adapter and existing processor, the arrangement may be used to send and receive images in the form of standard V.29 format facsimile data, to send and receive data operating as a synchronous IBM 3270 compatible terminal device, or to record and play back conventional voice transmissions rather than data to implement a telephone answering, voice message handling, and telemarketing systems.

Abstract: A method for determining characteristics of a data communication channel between first and second data communication devices. The method includes the step of sending a relatively low power digital probe signal over said channel from said first to said second data communication devices. The method further includes sending a second digital probe signal corresponding to an analog signal having a relatively high-frequency signal with a time-varying dc component from said first to said second data communication devices. The second data communication device receives a signal, said received signal corresponding to said probe signals sent by said first device. In addition, the second data communication device determines whether said received signal varies from a predetermined standard.

Abstract: A method and an apparatus for encoding an image signal. The apparatus includes an acquisition module disposed to receive the image signal. A first processor is coupled to the acquisition module. At least one encoder processor is coupled to the first processor. The at least one encoder processor produces an encoded image signal under control of the first processor. The method includes the steps of converting an input image signal into a predetermined digital format and transferring the digital format image signal to at least one encoder processor. The method further includes the step of applying, at the at least one encoder processor, a hierarchical vector quantization compression algorithm to the digitized image signal. At the next step, a resultant encoded bit stream generated by the application of the algorithm is collected. The method and apparatus of the present invention may be used in conjunction with an ordinary modem to transmit and/or receive audio, video sequences or still images.

Abstract: A method and an apparatus for encoding an image signal. The apparatus includes an acquisition module disposed to receive the image signal. A first processor is coupled to the acquisition module. At least one encoder processor is coupled to the first processor. The at least one encoder processor produces an encoded image signal under control of the first processor. The method includes the steps of converting an input image signal into a predetermined digital format and transferring the digital format image signal to at least one encoder processor. The method further includes the step of applying, at the at least one encoder processor, a hierarchical vector quantization compression algorithm to the digitized image signal. At the next step, a resultant encoded bit stream generated by the application of the algorithm is collected. The method and apparatus of the present invention may be used in conjunction with an ordinary modem to transmit and/or receive audio, video sequences or still images.

Abstract: Apparatus and method for enabling bilateral transmission of digital data between a local area network and telephone company networks employing both analog and digital telephone lines. A modem modulates signals responsive to signals from a local area network representing an outgoing call to form digital telephone signals suitable for transmission by a telephone line and suitable for demodulation by receiving analog modems. A circuit switched time division multiplex bus transmits the digital telephone signals to the telephone line. The modem also demodulates incoming digital telephone signals to form digital network bus signals divided into packets. A packet bus transmits the digital network bus signals to a network interface which processes the signals and transmits them to the local area network.

Abstract: A full-duplex modem having improved transmission speeds over voice grade telephone circuits that extends the concepts of asymmetric transmission to include echo cancellation techniques. The preferred modem has a high speed forward channel and an overlapping low speed back channel and is capable of transmitting or receiving over either of the channels, depending on the relative data rates. A narrow band echo canceler substantially cancels all or part of reflected transmit signals. Because the echo cancellation technique employed is narrow band, there is a significant reduction in the complexity and computational requirements for the modem.

Abstract: A method and an apparatus for encoding an image signal. The apparatus includes an acquisition module disposed to receive the image signal. A first processor is coupled to the acquisition module. At least one encoder processor is coupled to the first processor. The at least one encoder processor produces an encoded image signal under control of the first processor. The method includes the steps of converting an input image signal into a predetermined digital format and transferring the digital format image signal to at least one encoder processor. The method further includes the step of applying, at the at least one encoder processor, a hierarchical vector quantization compression algorithm to the digitized image signal. At the next step, a resultant encoded bit stream generated by the application of the algorithm is collected. The method and apparatus of the present invention may be used in conjunction with an ordinary modem to transmit and/or receive audio, video sequences or still images.