Patents by Inventor Dianna D. Liu
Dianna D. Liu has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240025051Abstract: A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.Type: ApplicationFiled: September 29, 2023Publication date: January 25, 2024Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Conner S. George, Hassan Zargarzadeh, Dianna D. Liu
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Patent number: 11826916Abstract: A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.Type: GrantFiled: September 9, 2021Date of Patent: November 28, 2023Assignee: ARIX TECHNOLOGIES, INC.Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Conner S. George, Hassan Zargarzadeh, Dianna D. Liu
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Publication number: 20230366837Abstract: A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.Type: ApplicationFiled: July 24, 2023Publication date: November 16, 2023Inventors: Bryan R. Duerfeldt, Conner S. George, Karl Petter Wehlin, Dianna D. Liu
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Patent number: 11754514Abstract: A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.Type: GrantFiled: August 12, 2022Date of Patent: September 12, 2023Assignee: ARIX TECHNOLOGIES, INC.Inventors: Bryan R. Duerfeldt, Conner S. George, Karl Petter Wehlin, Dianna D. Liu
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Patent number: 11732832Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: GrantFiled: February 1, 2021Date of Patent: August 22, 2023Assignee: ARIX TECHNOLOGIES, INC.Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto
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Publication number: 20230050602Abstract: A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.Type: ApplicationFiled: August 12, 2022Publication date: February 16, 2023Inventors: Bryan R. Duerfeldt, Connor S. George, Karl Petter Wehlin, Dianna D. Liu
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Publication number: 20210402609Abstract: A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.Type: ApplicationFiled: September 9, 2021Publication date: December 30, 2021Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Conner S. George, Hassan Zargarzadeh, Dianna D. Liu
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Patent number: 11154989Abstract: A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.Type: GrantFiled: September 25, 2020Date of Patent: October 26, 2021Assignee: ARIX TECHNOLOGIES, INC.Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Conner S. George, Hassan Zargarzadeh, Dianna D. Liu
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Publication number: 20210172557Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: ApplicationFiled: February 1, 2021Publication date: June 10, 2021Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto
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Publication number: 20210094186Abstract: A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.Type: ApplicationFiled: September 25, 2020Publication date: April 1, 2021Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Conner S. George, Hassan Zargarzadeh, Dianna D. Liu
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Patent number: 10914417Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: GrantFiled: September 26, 2019Date of Patent: February 9, 2021Assignee: ARIX TECHNOLOGIES, INC.Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto
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Publication number: 20200088339Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: ApplicationFiled: September 26, 2019Publication date: March 19, 2020Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto
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Patent number: 10465835Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: GrantFiled: September 19, 2018Date of Patent: November 5, 2019Assignee: Arix Technologies, Inc.Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto
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Publication number: 20190086020Abstract: A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.Type: ApplicationFiled: September 19, 2018Publication date: March 21, 2019Inventors: Karl Petter Wehlin, Bryan R. Duerfeldt, Dianna D. Liu, Gary E. van Deursen, Timothy D. Foldy-Porto