Abstract: A speed regulator digital speed controller for rotating machinery is comprised of a single-chip microcontroller operating in conjunction with a multiple counter/time peripheral, and is programmed in a high level language. Pulses are generated by a digital speed sensor at a rate too low to give the required speed resolution; these pulses are counted and a preset number toggles a binary gate signal. Two clock counters both having an input connected to a high reference frequency oscillator are gated alternately and accumulate a count depending on the length of the gated on interval. These speed related counts are read during alternating gated off intervals into the microcontroller where the speed error is calculated in real time to a high degree of accuracy and resolution. The speed of an electric motor and a steam turbine, for instance, are regulated.

Abstract: A system for the adaptive reordering of sequential decisions in the search of a data base is provided with a device that simplifies and speeds up a heuristic search method by implementing in hardware the computation required for the adaptive reordering. The system includes an arithmetic unit for computing for each decision the ratio p/c where p is the probability of a successful outcome of the decision and c is the cost of computation to make that decision. The arithmetic unit includes a device for estimating the logarithms of the prabability p and the cost c for each decision. Logarithms of ratios p/c are calculated for each decision by subtracting the log c from the log p, and then the logarithms of the ratios for the decisions are compared to produce a priority value for each decision. The decisions are reordered based on the priority value assigned to each decision to obtain the optimal ordering of the decisions.

Abstract: A safety control safeguard system includes sensors disposed in a quadruple array. First, second, third and fourth signal processing channels provided in parallel each include signal processing means for receiving output signals from the associated sensors for producing a trip signal. First and second actuating means operable independent of each other are provided for actuating an apparatus to be controlled. A first switch means operatively connected to the first, second, third and fourth processing channels for activating the first actuating means in response to reception of the trip signal produced by the signal processing channels and second switch means operatively connected to the first, second, third and fourth processing channels for activating the second actuating means in response to reception of the trip signal produced by the signal processing channels.

Abstract: A system for controlling a mechanical manipulator in a laboratory environment employs a system of taught motions, attribute operators and procedure rules to simplify the programming task for scientists or engineers skilled in their own fields and not robotics.

Abstract: In a system for the performance of a plurality of functions, each of the functions is allocated its own function control member comprising a microprocessor with the associated peripheral equipment, and one or more actuating devices. Each control member is capable of providing the control for functions of two or more types, and the different control members are mutually interchangeable. The control members are connected in one or more first wiring loops, each of which is connected to a main computer. The signal transmission in the first loop is performed digitally and in series.

Abstract: A transfer machine comprising a conveyor for conveying workpieces to stations and numerically controlled machine tools disposed at their respective stations. These machine tools are controlled by sequence controllers, which are connected with their respective numerical controllers. All the programs for machining operations are stored in each numerical controller. When some station is in trouble, the normal machine tool disposed at a station adjacent to the station in trouble is caused to execute the program originally assigned to the station in trouble, as well as the program assigned to the normal station itself.

Abstract: A numerically controlled apparatus for working a work piece by a tool, includes a memory unit, a central controller, a calculating unit and a driver for driving the tool. The memory unit stores working programs, execution block numbers, working data and shunting data. The calculating unit calculates the working data and shunting data under the control of the working programs. When the working operation is interrupted, the tool is shunted to a shunting position while performing the working operations in the shunting direction opposite to the normal working direction. Thereafter, the tool is returned to the position where the working operation was interrupted, and thus, the working operations are continued.

Abstract: A system for maximizing the board width fitting to a flitch wherein grade lumber rules permit a designated percentage of wane area. The side edges of the minor face of the flitch are assumed to be straight edge line segments. Each line edge segment is established at designated vertical distances. The beginning and end of each line edge segment is thus determined and the relative longitudinal and lateral positions as between the beginning and end of each line segment determines a rectangular area that is assumed to be half surface area and half wane area. The side edge of a board is then computed to include the allowable wane area. Boards may also be force fit from visual examination by designation of the board width that will separate the flawed portion from the non flawed portion.

Abstract: With the aim of designing efficiently and quickly such plans as production plans having a variety of requirements involved and requiring frequent modification of software, a planning logic prepared without regard to the preparation sequence of a plan is converted into a planning program. Upon the conversion, the planning logic is edited so that only part of the planning logic requiring modification may be modified, and a result of modification is displayed on a screen so as to be checked through a display.

Abstract: A method and apparatus are provided to insure a means of purchasing a floating rate zero coupon note that is designed to fund a certain future liability of uncertain value and thereby defease fully its future cost. The method is a one-year renewable term insurance program that fully funds the purchase of a certain floating rate zero coupon note upon the occurrence of some catastrophic event, such as the death of the insured. The system projects the expected death benefit payment and then calculates the annual insurance premium based on the expected death benefit payment, type of policy, and personal and risk characteristics of the insured.

Abstract: An input device for an automatic sewing machine having an easel for tracing a pattern and numeric and function keys. A liquid crystal display prompts the operator to select an input mode and then to input numerical data. The selection and numerical input is performed by touching a cursor pen to selected ones of the keys. The liquid crystal displays the inputted data.

Abstract: Apparatus and a method are disclosed for use in a computer controlled factory environment which includes workstations and automated vehicles servicing those workstations for monitoring the status of a plurality of system devices and reporting same, on demand, to the control computer in a predetermined sequence manner which minimizes control computer involvement in polling and buffering operations and optimizes vehicle movement.

Abstract: The issue of tool path generation has so far been approached from points of automatic programming system on typified by APT. In the automatic programming system, however, patterns of workpieces should be recognized by operators, and if the workpieces are of complicated shapes, it should require much skill and time. Studies have been conducted in recent years to generate tool paths by building up in advance solid models in a computer, and modifying the models for a particular problem everytime it needs to be solved. According to this invention method, a required shape and an environmental model including a workpiece are modeled in three-dimensions by using CSG models, and are offset in a normal direction of the surface in correspondence to the tool radius to convert the tool into a line tool so that the problem is replaced with a graphic problem viewed from the tool axis direction.

Abstract: A parallel processing system for production rule programs utilizes a host processor for storing production rule right hand sides (RHS) and a plurality of rule processors for storing left hand sides (LHS). The rule processors operate in parallel in the recognize phase of the system recognize -Act Cycle to match their respective LHS's against a stored list of working memory elements (WME) in order to find a self consistent set of WME's. The list of WME is dynamically varied during the Act phase of the system in which the host executes or fires rule RHS's for those rules for which a self-consistent set has been found by the rule processors. The host transmits instructions for creating or deleting working memory elements as dictated by the rule firings until the rule processors are unable to find any further self-consistent working memory element sets at which time the production rule system is halted.

Abstract: A machining process sequence defined by machining definition steps is displayed on a display screen in the form of a flowchart (FLC). In subsequently performed processing for automatically deciding a machining process sequence, the machining process sequence is revised in such a manner that machining processes (e.g. 01/01. 02/01, 03/01), the order of which must not be changed, are arranged in a serial machining sequence and machining processes (e.g. 02/01, 02/02, 02/03, 02/04, 02/05), the order of which may be changed, are arranged in parallel. NC data are created on the basis of the revised machining process sequence.

Abstract: A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

Abstract: A powderized material supply system comprises a plurality of reservoir tanks, each containing a different type of powder, and is associated with a metering means for metering the material into an individual supply line. Each individual supply line is associated with a carrier fluid source which supplies, carrier fluid at a controlled pressure for transferring the metered material with the carrier fluid. The individual material suppply lines, each associated with the corresponding reservoir tank, are connected to a post-mixing chamber into which the metered materials are introduced. The post-mixing chamber is connected to a mixture supply line. Each metering means can be controlled for metering a controlled amount of the material in its associated reservoir tank, independently of others. The powderized material supply system is applicable in various industrial or laboratory level processes which require supply of a plurality of powder state fluid material at a variable rate.

Abstract: An adaptive feedrate control and method of optimizing the metal removal rate of NC end milling is based on a solid modeler which continuously simulates the in-process workpiece geometry in 3-dimensional machining. For each NC record representing a tool motion, an adjusted feedrate is generated off-line by the simulation running on a general purpose computer. The metal removal rate, cutting force, and tool deflection are calculated, and a feedrate is chosen to increase machine utilization without violating user-set constraints and avoid common machine problems such as excessive tool deflection and tool breakage.

Abstract: A method for aligning a moving substrate and a read or write head includes independently controllable rollers for deskewing the sensed skew of a moving substrate and a read or write device that is translatable in a direction fixed with respect to the reference direction of the moving substrate.

Abstract: A robot system comprising a main computer having a robot language incorporated therein and having the functions of preparing, executing and storing programs and a plurality of slave computers connected via a high speed data bus to the main computer. Task programs are prepared by using the robot language and then executed on the main computer. The task programs inherent to the respective functions, such as trajectory control for the manipulator, vision control and feature extraction of objects are executed in each of the slave computers by commands issued from the main computer to the respective slave computers for each operational unit.