Abstract: Image-based control systems and methods automate the adjustment of medical devices. An image based-control system for an endoscope can include, in addition to the endoscope, a processing system and an actuator. The processing system can receive an image from an image capture device of the endoscope. Based on coordinates of a lumen in the image, the processing system can instruct the actuator to reorient the capture device to direct the capture device toward the lumen. The actuator can be coupled to a manual controller of the endoscope, such that the actuator can reorient the capture device via the manual controller. An image-based control method can include receiving an image from the capture device of the endoscope; identifying coordinates of a lumen in the image; mapping such coordinates to a physical position of the lumen relative to the capture device; and instructing an actuator to adjust an orientation of the endoscope.

Abstract: An improved structure and method for building large-aperture lightweight deformable mirrors uses a hinged substrate. In addition to reduced weight, the approach provides rigidity to the mirror, which is necessary for the accurate response to actuator commands and tolerance to disturbances. No stresses are induced in the substrate due to the commanded deformation of the substrate, regardless of the magnitude of the deformation. Any stresses in the substrate structure are those induced due to forces in the face sheet, which are likely to be small using advanced nano-laminate and membrane face sheet technologies. The magnitude of the deformation (dynamic range) is limited only by the actuator stroke, and not by the stresses induced in the substrate. The design therefore accommodates small-force, large-stroke actuators, as opposed to the current designs that use large-force, small-stroke actuators.

Abstract: An improved structure and method for building large-aperture lightweight deformable mirrors uses a hinged substrate. In addition to reduced weight, the approach provides rigidity to the mirror, which is necessary for the accurate response to actuator commands and tolerance to disturbances. No stresses are induced in the substrate due to the commanded deformation of the substrate, regardless of the magnitude of the deformation. Any stresses in the substrate structure are those induced due to forces in the face sheet, which are likely to be small using advanced nano-laminate and membrane face sheet technologies. The magnitude of the deformation (dynamic range) is limited only by the actuator stroke, and not by the stresses induced in the substrate. The design therefore accommodates small-force, large-stroke actuators, as opposed to the current designs that use large-force, small-stroke actuators.

Abstract: An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.

Abstract: An automated yarn creeling method and apparatus for the textile industry. Preferably, the present yarn creeling system is used in the carpet tufting industry to automate, ultimately, the intelligent transfer of packages of yarn from the shipping pallets to the bullhorns of a creeler. The apparatus preferably comprises a service arm assembly, a vertical support, a base support, and automated weighing and control systems.