Abstract: A digital control for light beams. A position of an output light beam is changed based on a digital input control formed of a plurality of bits. The device may use movable mirrors to change the position of the output light beams.

Abstract: A design is presented for an N×N crossbar switch. A crossbar switch is one of the basic components of Optical Switching Networks. An optical N×N switch has the capability of connecting any light beam from the input of the switch to any output of the switch without interfering with other light beams. That is each single input is connected to one and only one of the output ports without interfering with any other beam or beams. The design presented is based on the use of precision meso-scale mechanics of the size typically found in miniature disc drives and meso-scale optical components. This meso-scale mechanics is then controlled or driven by precision servo-electronics and software to achieve the correct switching. The precision servomechanisms, meso-scale mechanics, electronics and software control are designed to work together to self-compensate for assembly or manufacturing defects and deleterious environmental, including temperature, effects.

Abstract: A digital control for light beams. A position of an output light beam is changed based on a digital input control formed of a plurality of bits. The device may use movable mirrors to change the position of the output light beams.

Abstract: A pack containing an article such as a bar of soap consists of an inner tubular liner within an outer wrapper. The material of the inner liner is folded over at opposite edges to form increased thickness margins at opposite ends of the pack. The outer wrapping may be of paper and has flap closures at opposite ends which are secured by adhesive. It can be arranged that the adhesive also secures the outer wrapping to the liner, preferably over faces of said folded over margins. By these measures, a more economical pack can be provided, employing a thinner grade of material for the inner liner, without sacrificing the degree of protection afforded to the article within the pack.

Abstract: A ball projecting machine comprises a ball striker in the form of a bar secured to a shaft rotatably mounted by bearings in a part of a machine frame. The striker carries a pin on the same side of the shaft as the end of the striker which strikes the balls. A tension spring is connected between a fixed part of the machine frame and the pin to bias the striker. The striker shaft is arranged to be rotated by a manually operated lever so that during a cycle of rotation of the striker in the striking direction, the tension spring is stressed during a first part of the cycle and during a second part of the cycle urges the striker to rotate in the striking direction. The lever is connected to the shaft through a first one-way clutch including a coil spring and drums fixed respectively to the lever and to the shaft. The shaft is connected to the machine frame part through a further one-way clutch including a coil spring and drums fixed respectively to the frame part and to the shaft.

Abstract: A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

Abstract: A servo-control valve for a linear hydraulic motor wherein the control valve piston is isolated from the side loading of a cam and roller by employing a cam follower plunger, as a separate detached element coaxial with the piston. The valve piston and the cam follower plunger are maintained in intimate contact due to the constant back pressure applied by the hydraulic system. The plunger is encased in a cylindrical array of balls which are preloaded between the plunger and the piston chamber walls such that the plunger experiences essentially only rolling friction, but no sliding friction, as the plunger moves. This form of preloading of the balls eliminates the backlash associated with clearance around the plunger.

Abstract: A computer-controlled-manipulator gripper with a set of three-degree-of-freedom force sensors on each finger having strain gauges and 90.degree. shift in orientation of the sensors includes an asymmetric, offset relationship of the location and orientation of analogous sensors on the two fingers in order to obtain different measurements from the two fingers.

Abstract: A mechanical manipulator which includes fingers under the control of a computer, antenna sensing means mounted on such fingers and extended and retracted from the fingers under the control of the computer, means for detecting the contact or proximity of the extended antenna sensing means with a workpiece, means responsive to the antenna sensing means for retracting the sensing means from interference with the workpiece and for adjusting the control of the fingers. The fingers are adapted for X, Y and Z linear motions and provides pitch, yaw and roll angular motion. The retractable antenna sensing means resembles a whisker which extends from the finger and makes contact with or approaches the workpiece. The antenna sensing means may include a retractable pneumatic back pressure sensor via the back pressure of a fluid in the supply, created when the fluid impinges on the workpiece. The retractable antenna whisker bends more readily than the rigid finger.

Abstract: A quasi-liquid vise is provided for clamping irregularly shaped workpieces which comprises an open-topped vessel into which a workpiece may be inserted, a particulate fluidizable material located within and, substantially filling said vessel, pressure means connected to said vessel for introducing a gas or fluid therein to fluidize said particulate material, and means for applying a vacuum to said vessel and the particulate material to substantially solidify said particulate material when it is desired to clamp a workpiece therein. The solidifying effect of said vacuum applied to said particulate material may be enhanced by utilizing alternate layers of different sized particulate material wherein smaller particles fill voids and enhance the vacuum effect and hence the rigidity of the particulate material when it is desired to solidify same.