Abstract: A flux-mnemonic permanent magnet synchronous machine (FMPMSM) includes: an annular stator having a winding; a rotor disposed concentric with the stator; and a power inverter for dispensing an excitation current and at least one current pulse. The rotor includes: at least two circumferentially magnetized adjustable permanent magnets, each permanent magnet having two poles normal to an air gap between the stator and rotor; and one or more flux adjusters adjacent to one or more magnet poles of the permanent magnets. A polarization ratio of magnetization of at least one of the permanent magnets is adjustable during operation of the FMPMSM by application of the at least one current pulse.

Abstract: A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

Abstract: A multi-pole rotor of a variable-flux memory motor (VFMM) includes: a plurality of poles. Each pole includes: a curved soft magnet, wherein an outer periphery of the curved soft magnet is toward the rotational axis of the rotor; a first non-magnetic and non-conductive material disposed on the outer periphery of the curved soft magnet; and a second non-magnetic and non-conductive material disposed on an inner periphery of the curved soft magnet.

Abstract: A method for magnetizing a soft magnet in a rotor of a variable-flux memory motor (VFMM) includes: generating a first pulse of electric current that has a duration of equal to or more than 0.1 millisecond (ms) and equal to or less than 2 ms; and applying the first pulse to a stator winding of the VFMM to set a magnetization state of the soft magnet to a first magnetization state.

Abstract: A flux-mnemonic permanent magnet synchronous machine (FMPMSM) includes: an annular stator having a winding; a rotor disposed concentric with the stator; and a power inverter for dispensing an excitation current and at least one current pulse. The rotor includes: at least two circumferentially magnetized adjustable permanent magnets, each permanent magnet having two poles normal to an air gap between the stator and rotor; and one or more flux adjusters adjacent to one or more magnet poles of the permanent magnets. A polarization ratio of magnetization of at least one of the permanent magnets is adjustable during operation of the FMPMSM by application of the at least one current pulse.

Abstract: A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

Abstract: In one aspect, embodiments of the invention are directed to a multi-pole rotor of a variable-flux memory motor (VFMM) that includes: a rotor core; and a plurality of poles. Each of the poles includes: one or more soft rotor magnets; a first ferrous wedge; and a second ferrous wedge. The one or more soft rotor magnets are disposed between the first and second ferrous wedges in a circumferential direction of the rotor.

Abstract: In one aspect, embodiments of the invention are directed to a multi-pole rotor of a variable-flux memory motor (VFMM) that includes: a rotor core; and a plurality of poles. Each of the poles includes: one or more soft rotor magnets; a first ferrous wedge; and a second ferrous wedge. The one or more soft rotor magnets are disposed between the first and second ferrous wedges in a circumferential direction of the rotor.

Abstract: In one aspect, embodiments of the invention are directed to a multi-pole rotor of a variable-flux memory motor (VFMM) that includes: a rotor core; and a plurality of poles. Each of the poles includes: one or more soft rotor magnets; a first ferrous wedge; and a second ferrous wedge. The one or more soft rotor magnets are disposed between the first and second ferrous wedges in a circumferential direction of the rotor.

Abstract: A submersible robot includes a re-configurable body transformable between at least a first configuration and a second configuration such that the re-configurable body, in the first configuration, has a hydrodynamic shape configured for efficient travel in a subsea environment, and such that the re-configurable body, in the second configuration, has a shape configured for performing a robotic task in the subsea environment.

Abstract: In an embodiment, a relative deflection detector may include at least two structural arcs, and a predetermined number of means for measuring position capable of determining the relative deflection in a first component. The at least two structural arcs may be for example, comprised of a first and second structural arc whereby the first and second structural arcs are attached to the first component at respective first and second predetermined locations and whereby each arc is comprised of a respective sequence of indicators, such as, for example, codes inscribed on the outer circumference of each arc. The first and second structural arcs may be positioned in concentric and coplanar relationship with each other.

Abstract: A submersible robot includes a re-configurable body transformable between at least a first configuration and a second configuration such that the re-configurable body, in the first configuration, has a hydrodynamic shape configured for efficient travel in a subsea environment, and such that the re-configurable body, in the second configuration, has a shape configured for performing a robotic task in the subsea environment.

Abstract: A lower robotic arm includes a base structure, a plurality of digits, and a plurality of tendons. The digits each include first, second, third, and fourth phalanges. Each digit is operatively attached to the base structure at the respective first phalange. A first joint operatively connects the first and second phalange to define a first axis, a second operatively connects the second and third phalange to define a second axis, and a third joint operatively connects the third and fourth phalange to define a third axis, such that the phalanges are selectively rotatable relative to the adjacent phalange, about the respective axis. The tendons are operatively connected to a respective one of the fourth phalanges. Each tendon selectively applies a first torque to the respective fourth phalange to urge the respective phalanges to rotate in a first direction about the respective axes.

Abstract: A lower robotic arm includes a base structure, a plurality of digits, and a plurality of tendons. The digits each include first, second, third, and fourth phalanges. Each digit is operatively attached to the base structure at the respective first phalange. A first joint operatively connects the first and second phalange to define a first axis, a second operatively connects the second and third phalange to define a second axis, and a third joint operatively connects the third and fourth phalange to define a third axis, such that the phalanges are selectively rotatable relative to the adjacent phalange, about the respective axis. The tendons are operatively connected to a respective one of the fourth phalanges. Each tendon selectively applies a first torque to the respective fourth phalange to urge the respective phalanges to rotate in a first direction about the respective axes.

Abstract: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Abstract: A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.