Abstract: Methods for determining a point-of-gaze (POG) of a user in three dimensions are disclosed. In particular embodiments, the methods involve: presenting a three-dimensional scene to both eyes of the user; capturing image data including both eyes of the user; estimating first and second line-of-sight (LOS) vectors in a three-dimensional coordinate system for the user's first and second eyes based on the image data; and determining the POG in the three-dimensional coordinate system using the first and second LOS vectors.

Abstract: Methods for determining a point-of-gaze (POG) of a user in three dimensions are disclosed. In particular embodiments, the methods involve: presenting a three-dimensional scene to both eyes of the user; capturing image data including both eyes of the user; estimating first and second line-of-sight (LOS) vectors in a three-dimensional coordinate system for the user's first and second eyes based on the image data; and determining the POG in the three-dimensional coordinate system using the first and second LOS vectors.

Abstract: Methods for determining a point-of-gaze (POG) of a user in three dimensions are disclosed. In particular embodiments, the methods involve: presenting a three-dimensional scene to both eyes of the user; capturing image data including both eyes of the user; estimating first and second line-of-sight (LOS) vectors in a three-dimensional coordinate system for the user's first and second eyes based on the image data; and determining the POG in the three-dimensional coordinate system using the first and second LOS vectors.

Abstract: A method of estimating the pose of a vehicle relative to a stereo camera is described herein. The method includes acquiring at least one stereo image of the vehicle from the stereo camera, wherein the stereo image comprises a plurality of scene data points, selecting a plurality of model data points corresponding to a model of the vehicle, wherein the plurality of model data points is representative of at least three degrees of freedom defining the pose of the model relative to the stereo camera, matching each of the plurality of model data points to a closest neighboring one of the plurality of scene data points according to a predetermined coarse-to-fine multi-resolution search approach, and, based on the results of the matching, determining at least three degrees of freedom defining the pose of the vehicle relative to the stereo camera.

Abstract: A method and apparatus for processing ultrasonic image signals is disclosed. The method involves receiving a plurality of input sample values representing reflected sound waves in a ultrasonic system, exponentiating each input sample to produce a plurality of respective exponentiated sample values, conditioning the exponentiated sample values to produce conditioned exponentiated sample values for receipt by an imageformer, and causing the imageformer to produce an image representing the ultrasonic sound waves in response to the conditioned exponentiated sample values.

Abstract: Methods for determining a point-of-gaze (POG) of a user in three dimensions are disclosed. In particular embodiments, the methods involve: presenting a three-dimensional scene to both eyes of the user; capturing image data including both eyes of the user; estimating first and second line-of-sight (LOS) vectors in a three-dimensional coordinate system for the user's first and second eyes based on the image data; and determining the POG in the three-dimensional coordinate system using the first and second LOS vectors.

Abstract: A system for medical ultrasound in which the ultrasound probe is positioned by a robot arm under the shared control of the ultrasound operator and the computer is proposed. The system comprises a robot arm design suitable for diagnostic ultrasound, a passive or active hand-controller, and a computer system to co-ordinate the motion and forces of the robot and hand-controller as a function of operator input, sensed parameters and ultrasound images.

Abstract: Apparatus for evaluating the stability of the shoulder joint of a human subject includes a rotatable, elbow-holding assembly that has sensors and associated processing components for producing an indication of the rotational angle of the long axis of the humerus of the subject relative to a reference. Sensors measure muscle activity as the humerus is rotated. Changes in the muscle activity measurement are processed to produce an indication of the changes in the subject's apprehension as the humerus is moved. The apparatus may include a clock that indicates the times when muscle activity occurs. The levels of muscle activity may be recorded at different times and indicated to the operator. Pressure can be applied in a direction normal to the long axis of the humerus, and sensors produce an indication of the level of the applied pressure and corresponding apprehension of the subject. Also available is an indication of the level of muscle activity that occurs when such pressure is applied.

Abstract: A robot control system generates an offset signal which is added to the control signal for a robot when the velocity error is small. The offset signal is, in each case, based on a previous offset signal added to the then current robot control signal which is updated regularly on discrete increments of time when the velocity error is small. Thus, with the control system when the velocity error is low adds the control signal to the then current offset signal to provide a corrected signal to control the robot. When the velocity error signal is high, the generation and addition of the offset signal is disabled.

Abstract: A system for controlling the operation of a tele-operated machine uses a sensor which senses the angular orientation of the joint, converts the angular orientation to a required length of the linear actuator (piston and cylinder) to obtain the then current length. A controller inputs the desired position of the joint and the system defines the length of (or flow to) the linear actuator necessary for the joint to be in the desired position based on a comparison of the desired and actual lengths of the actuator and sets the length of (or flow to) the actuator based on the required length (or flow) necessary to move the joint into the desired position i.e. to extend the length of the actuator to that required for the desired movement of the joint.

Abstract: A force feedback velocity control measures the forces adjacent the end point of an arm being controlled and adjusts the stiffness of a manual controller in any one direction by scaling the end point force in the corresponding direction and adjusting the scaled force based on the degree of displacement of the manual controller away from a datum or zero velocity position in the one direction. A suitable deadband zone is provided surrounding the datum position.

Abstract: A method and apparatus for controlling the movement of an end point of an articulated arm in the x, y and z directions using a manually operated resolved motion control by controlling the component of velocity of the end point in each of the x, y and z directions to change by the same amount for a given change in the component of displacement of the manual controller in the respective x, y and z directions provided the total displacement in the selected x, y or z direction is less than a preselected displacement in the respective x, y or z direction and the end point is within a preselected work space.

Abstract: An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, developing from said closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving the system of at most 3 non-linear equations to provide the inverse kinematic solution for said manipulator to determine its joint variables.

Abstract: A hydraulic control system for controlling the motion of a double acting hydraulic actuator determines the flow to and from the actuator in accordance with1. the desired movement of the actuator2. the measured hydraulic pressures on opposite sides of the piston of the actuator3. a selected, predefined model of the system of which the actuator forms a partand sets the valves controlling the flows accordingly.

Abstract: A hydraulic control system for a multi-linked manipulator arm monitors the desired flow of hydraulic fluid to each of the actuators for the links of the manipulator, and when the desired flow to any one or more of the actuators exceeds the available flow to the respective actuators, the flows to all the actuators are reduced on the basis of a scaling factor based on the ratio of the available flow to the desired flow of that actuator having the maximum ratio of its desired to available flows so that the relative speed of all the actuators for manipulating the arm is maintained. In some cases some actuators may have higher priority than others and a second scaling factor in which such priorities have been applied may also have to be applied to the flows to reduce the relative speeds of all actuators.

Abstract: An articulated arm employs a controller to generate .delta.r, .delta..THETA. and .delta.z signals for controlling the movement of the arm in r, .THETA. and z directions to product movement of an end point from an initial location along a desired path toward a desired location. The actual location is determined by sensing the relationships between the arm segments and determining the actual location of the end point. The actual location is continuously compared with the desired location represented by the r, .THETA. and z signals and, if the difference between the actual location and desired location exceeds preselected limits, the .delta.r, .delta..THETA. and .delta.z are scaled down thereby redefining the desired location to ensure that the actual arm movement does not lag an unacceptable amount relative to the desired location.

Abstract: A system for controlling x, y and z directional movement of a point adjacent to the free end of an arm composed of a plurality of interconnected articulated arm segments mounted for movement relative to at least three axes and providing for individual, independent control of movement of the point in any selected one of the x, y or z directions by controllably relatively adjusting the relationships between the segments. The system is particularly suitable for use in equipment when the arm incorporates a boom and stick such as backhoes or the like.

Abstract: It is the purpose of this invention to provide a method and apparatus for a compliance control in each degree of freedom of a robotic system independently of other control parameters. This independent compliance control capability allows dexterous assembly operations to be done without elaborate fixture of a work piece. The method of controlling compliance and position of an actuator comprises the steps of acquiring a raw Myoelectric signal from the muscles of a teleoperator, processing the raw Myoelectric signal into compliance control and position control signals and applying the control signal to an actuator(s) of the teleoperated robotic system.

Abstract: A mirror scanning system comprises a single mirror mounted to rotate on a first axis that is substantially in the plane of the mirror reflecting surface and on a second axis perpendicular to and intersecting the first axis. Both the mirror and the first axis rotate around the second axis. An optical system is directed at a portion of the reflecting surface of the mirror at or adjacent to the intersection of the two axes and has a focal axis substantially aligned with the second axis. By aligning the reflecting surface in a direction so as to maximize a signal emanating from a source and detected at a selected position on a detector forming part of the optical system and measuring the angular displacement of the mirror around each of the first and second axes with the reflecting surface so aligned, the direction of a detected source can be determined.

Abstract: A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the change in joint angle using an iterative pseudo inverse Jacobian having a damping factor. The damping factor is adjusted for each iteration based on the distance necessary to reach said preselected target.