Abstract: Compliant mechanisms whose dominant modes of vibration match the desired kinematics for locomotion in a given environment are used to mimic motions of a living animal. Mechanisms are simple and mechanically robust. They may have as few as one actuator, which excites the compliant portion to vibrate in a natural mode that results in motion that mimics a living animal. Additional actuators may drive directional elements such as flippers. Models for compliant mechanism bodies were derived and used to identify actuator, material, and geometrical properties of the required mechanisms. The design and fabrication techniques of mechanisms implementing these ideas is also presented. Experiments found that important features of fish-swimming kinematics can be captured qualitatively by compliant mechanisms. The resulting mechanism swimming performance was ? of the real fish performance, comparable to current robotic fish.

Abstract: A mechanism for calibrating a scanning probe microscope is presented. The calibration mechanism operates to apply an input signal to an actuator to cause acceleration of the actuator and to measure a value indicative of deflection of a cantilever attached to the actuator, as a result of the actuator acceleration. The measured deflection value is used to determine a corresponding value of actuator displacement.

Abstract: The present invention relates to spectroscopic methods and systems for collecting electromagnetic radiation from an object using a continuously-spinning wavelength-selecting (CSWS) device, e.g., an interference filter(s)?? or grating. One embodiment of the invention provides a spectroscopic system for collecting electromagnetic radiation from a target. The spectroscopic system has at least one beam of electromagnetic radiation that interacts with the target. The system includes a continuously spinning wavelength-selecting (CSWS) device, e.g., a continuously spinning interference filter/grating driven by a DC motor, in the path of the at least one beam. The device filters the radiation with regard to wavelength to produce filtered radiation. The system further includes at least one detector in the path of the at least one beam for detecting the filtered radiation.

Abstract: A dye applicator including a head with a cavity (reservoir) and a plurality of bristles in the form of pins each covered with a sponge sleeve extending into the cavity and moistened with a catalyzed dye in the cavity by capillary action. A handle is connected to the head and includes a first container for receiving a dye compound, a second container for receiving a catalyst compound, a pump for each container, and a mixing chamber with a threaded compartment connected to the head cavity on one end, connected to the first container on the other end, and connected to the second container by a manifold for distributing the catalyst throughout the threaded compartment of the mixing chamber. A solenoid is positioned to actuate both pumps to deliver the dye and the catalyst separately to the mixing chamber and to deliver the mixed catalyzed dye to the head cavity.

Abstract: An apparatus and method are provided for processing the images obtained from an atomic force microscopy when profiling high aspect ratio features. A deconvolution technique for deconvolving the sample image includes the use of multiple images but does not require exact calibration of the scanning probe. In one embodiment, erosion and dilation techniques are used to obtain an undistorted image of the sample being measured. In another embodiment, Legendre transforms are used to obtain an undistorted image of the sample being measured. Also described is a technique for measuring the tip radius of the scanning probe.

Abstract: A method for segmenting a color image into a plurality of regions includes converting the image to a three-dimensional color space, generating a histogram for each dimension in the color space, using the histogram for each dimension to generate a plurality of connecting-boxes in the three-dimensional color space, and computing a normalized variance value of each connecting-box in order to form clusters of connecting-boxes corresponding to regions of the image. An illustrated application for the image segmentation method is in an object recognition system suitable for aligning a probe of an atomic force microscope with a feature of a sample.

Abstract: Apparatus and methods are provided for using atomic force microscopy for profiling high aspect ratio features. Probe landing techniques include scanning prior to bringing the probe into contact with the feature. In one embodiment, the probe assembly cantilever is brought into contact with the feature and subsequent scanning is used to locate the feature with the probe. In another embodiment, the probe is moved in a scanning pattern in progressively lower horizontal planes until the probe contacts the sample feature. Also described is a deconvolution technique for deconvolving the sample image and a technique for measuring the tip radius of the feature.

Abstract: A high precision friction drive positioning stage system is described. The friction drive positioning stage system uses three special actuation systems, each having a tip in contact with the stage and being capable of generating directional elliptical motion which allows the stage to move in any direction in the plane of the stage and in rotation. In one embodiment, each actuation system includes a plurality of piezoelectric elements in contact with a hat-shaped element at which the tip of the actuation system is located.

Abstract: An apparatus and method are provided for processing the images obtained from an atomic force microscopy when profiling high aspect ratio features. A deconvolution technique for deconvolving the sample image includes the use of multiple images but does not require exact calibration of the scanning probe. In one embodiment, erosion and dilation techniques are used to obtain an undistorted image of the sample being measured. In another embodiment, Legendre transforms are used to obtain an undistorted image of the sample being measured. Also described is a technique for measuring the tip radius of the scanning probe.

Abstract: A time delay control system in which estimated unknown dynamics of a controlled process are caluclated using calculations representative of convolutions of a state transition matrix with past data. A user or high level controller provides desired dynamics for a process. Periodic measurements of the processor taken to determine an error vector between the desired dynamics and the actual state of the process. The desired dynamics are used to determine the desired effects based on the present measured value of the state variables. The desired effects and the estimated effects of unknown dynamics are combined and multiplied by a pseudo inverse of a control matrix to obtain a control value. An error vector is multiplied by a feedback gain matrix and added to the control value to produce signal inputs to the process.

Abstract: A dual-drive system compensates for the effects of drive system nonlinearities for micro-manipulation of direct-drive robotic systems. The dual-drive system uses two actuators to drive a single manipulator joint. The extra actuator compensates for undesirable effects of the nonlinearities in the drive system by providing a correctional biasing force such as torque to the primary actuator. In a preferred embodiment, both actuators are DC motors and the biasing torque is modulated by monitoring the current in the primary motor winding. This torque monitoring can also be achieved by direct measurement, such as using a strain sensing element. The dual-drive system is capable of eliminating the effects of electromagnetic hysteresis and other nonlinearities in the amplifier-motor portion of a direct-drive robot arm. This system can be used to improve not only positioning performance, but also the dynamic manipulation of a robot manipulator.