Abstract: A system for reducing internal interference in a radio-frequency (RF) receiver includes providing a plurality of time slots within a frame where the receiver is configured to receive external RF signals during a receive time slot within the frame. Data is collected during a receive time slot of a frame, and a receive data value is calculated corresponding to the collected data. A predetermined portion of the data collected is inspected, and a bias data value is calculated. The bias value is attributable to interference signals caused by the internal interference. The bias data value is added to an accumulator, and over time, a running average of the bias data values is determined. A portion of the running average is subtracted from the sample stream of data to provide output data corresponding to the external RF signals absent the internal interference.

Abstract: A robot positioning apparatus for use with robot devices having a movable portion, wherein the movable portion may be spatially oriented to, and controllably spaced from, a reference surface. Initial locating of the reference surface is accomplished by an approximate positioning subsystem using multiple, angularly oriented units which send and receive acoustic orientation positioning signals in search of the reference surface. Once a return signal is received, switching logic indentifies the necessary reorienting of the movable portion to achieve approximately the proper facing relationship of the movable portion to the surface. For precise positioning and ranging after the facing relation is established, a precision positioning subsystem emits an acoustic signal toward the surface, and a response signal is received back from the surface by at least two, and preferably three, receivers mounted upon the movable portion of the robot device.

Abstract: A robot positioning apparatus for use with robot devices having a movable portion, wherein the movable portion may be spatially oriented to, and controllably spaced from, a reference surface. Initial locating of the reference surface is accomplished by an approximate positioning subsystem using multiple, angularly oriented units which send and receive acoustic orientation positioning signals in search of the reference surface. Once a return signal is received, switching logic identifies the necessary reorienting of the movable portion to achieve approximately the proper facing relationship of the movable portion to the surface. For precise positioning and ranging after the facing relation is established, a precision positioning subsystem emits an acoustic signal toward the surface, and a response signal is received back from the surface by at least two, and preferably three, receivers mounted upon the movable portion of the robot device.

Abstract: An automation control apparatus for determining whether there is an article within a target area, and, if so, whether the article meets certain predefined acceptability criteria. The control apparatus emits a beam of acoustic energy into the target area and receives back the reflected signal from the area. The received signal is then amplified to account for normal attenuation, and the amplified signal is tested to determine whether its transit time or amplitude indicates the presence of an object within the specified area. If an article is present, waveform analysis is performed on the amplified signal to determine the signature of the article, so that the signature may be compared with predetermined acceptable values. If an object is present and the object meets the acceptability criteria to be classified as a desired article, then a positive indication is provided. Conversely, a negative indication is made if an acceptable article is not present.