Abstract: A system for achieving perspective-corrected views at a location removed from the site of the creation of a distorted wide angle image without the transmission of control signals to the site of image creation. Angles of tilt, pan and rotation, as well as degrees of magnification, are achieved without the use of mechanical devices by using transform algorithms. The system provides for the transmission of signals related to an uncorrected image from a site where this distorted image is created, with the transmitted signals being received at one or more processing sites for creating the perspectively-corrected views. Transmission can be via telephone lines, with the system including signal compression and decompression units. Wireless transmission is also utilized where desired.

Abstract: A method and apparatus for sequencing views retrieved from a spherical still image file provide the viewer the perception of video performance with low bandwidth transmission. The method incorporates digital transmission and automatic sequencing of the playback of the view. The apparatus provides video-motion rate images via low bandwidth digital transmissions or small data files from a still image taken of an inanimate environment. The resulting method and apparatus allows the viewer to experience a video display of any environment (for example, real estate locations, malls, museums, and hotels) and view a "video" tour of the location through a low bandwidth transmission.

Abstract: A system for achieving perspective-corrected views at a location removed from the site of the creation of a distorted wide angle image without the transmission of control signals to the site of image creation. Angles of tilt, pan and rotation, as well as degrees of magnification, are achieved without the use of mechanical devices by using transform algorithms. The system provides for the transmission of signals related to an uncorrected image from a site where this distorted image is created, with the transmitted signals being received at one or more processing sites for creating the perspectively-corrected views. Transmission can be via telephone lines, with the system including signal compression and decompression units. Wireless transmission is also utilized where desired.

Abstract: A device for omnidirectional image viewing providing pan-and-tilt orientation, rotation, and magnification within a selected field-of-view for use in any application including inspection, monitoring, surveillance, and target acquisition. The imaging device (using optical or infrared images) is based on the effect that the image from a wide angle lens, which produces a circular image of an entire field-of-view, can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. Multiple simultaneous images can be output from a single input image.

Abstract: A endoscopic-type device for omnidirectional image viewing providing electronic pan-and-tilt orientation, rotation, and magnification within a selected field-of-view for use in applications in various environments such as in internal medicine inspection, monitoring, and surgery. The imaging device (using optical or infrared images) is based on the effect that the image from a wide angle lens, which produces a circular image of an entire field-of-view, can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming image from a endoscope image acquisition source, including a wide angle lens, is transmitted through an image conduit and captured by a camera that produces output signals according to that image. A transformation of these output signals is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis.

Abstract: A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.

Abstract: An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.

Abstract: Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Abstract: A device for omnidirectional image viewing providing pan-and-tilt orientation, rotation, and magnification within a hemispherical field-of-view that utilizes no moving parts. The imaging device is based on the effect that the image from a fisheye lens, which produces a circular image of at entire hemispherical field-of-view, which can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming fisheye image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout a hemispherical field-of-view without the need for any mechanical mechanisms.