Abstract: A pilot valve configured to provide a control pressure within a dynamic fluid system, the pilot valve comprising: (a) a valve body having a supply port, a return port, and a control pressure port, the pressure control port in fluid communication with a subsequent valving component; (b) an axial bore formed in the valve body and in fluid communication with each of the supply, return, and control pressure ports; (c) a valve spool slidably supported within the axial bore of the valve body, the valve spool configured to control fluid flow through the supply, return, and control pressure ports, and to vary the rate of change of area of at least one of the supply and return pressure ports upon being displaced, thereby providing a variable resistance to fluid flowing therethrough and reducing the quiescent power of the pilot valve; and (d) means for displacing, in a selective manner, the valve spool within the axial bore about the supply, return, and control pressure ports to apportion fluid therethrough to provide

Abstract: A method of imaging a target using a miniaturized imaging device is disclosed comprising providing a miniaturized imaging device having a stationary lens system and an imaging array, wherein the distance from a distal end of the stationary lens system to the imaging array is fixed. The miniaturized imaging device is advanced near the desired target and a distance from a distal end of the stationary lens system to the desired target is determined. A desired wavelength of light is calculated based on the determined distance from the distal end of the stationary lens system to the desired target and the desired wavelength of light is propagated onto the target.

Abstract: A miniaturized imaging device and method of viewing small luminal cavities are described. The imaging device can be used as part of a catheter, and can include a solid state imaging device (SSID) including an imaging array, and a graduated refractive index (GRIN) lens optically coupled to the imaging array of the SSID.

Abstract: A method and apparatus to generate a planar representation of a longitudinally extending 360 degree continuous view within a body cavity of a patient is disclosed comprising advancing a portion of an imaging device into the body cavity of the patient, the imaging device having an image capture mechanism disposed on a distal end thereof configured to capture at least a 360 degree view of the inside of the body cavity. Further comprising withdrawing the imaging device at a controlled rate from the patient while simultaneously coordinating and generating 360 degree view image data from the imaging device and transmitting the image data from the imaging device to an image processor. The method further comprising processing the image data to produce a planar longitudinally continuous 360 degree view of the body cavity.

Abstract: A modular robotic crawler can be formed by intercoupling a selected plurality of segment modules from a preexisting collection of differing compatible segment modules. The segment modules can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.

Abstract: A thinly configured and brushless miniature DC micro motor that includes at least two substantially-flat motor cells that are aligned axially. Each motor cell comprises a stator coil having an elongate opening and passage for a rotor shaft, and a cross-polarized rotor magnet carried on the rotor shaft and received within the elongate opening. The micro motor also includes a frame substrate that fixably supports the stator coils of the motor cells while providing a bearing means for rotatably supporting the rotor shaft, so that selectively energizing one of the motor cells creates an electric current in the stator coil interacting with a magnetic field of the received rotor magnet to generate a torque between the rotor shaft and the frame substrate.

Abstract: A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.

Abstract: A method of imaging a target using a miniaturized imaging device is disclosed comprising providing a miniaturized imaging device having a stationary lens system and an imaging array, wherein the distance from a distal end of the stationary lens system to the imaging array is fixed. The miniaturized imaging device is advanced near the desired target and a distance from a distal end of the stationary lens system to the desired target is determined. A desired wavelength of light is calculated based on the determined distance from the distal end of the stationary lens system to the desired target and the desired wavelength of light is propagated onto the target.

Abstract: A method for manufacturing a complex structure from a two-dimensional layout, the method comprising: (a) obtaining a support plate having a pre-determined, patterned recess formed in a surface thereof; (b) depositing a first series of individual flexible interconnects into the recess, the flexible interconnects being aligned parallel to one another in a common plane and supported by the support plate; (c) adhering, with adhering means, at least one rigid member to each of the flexible interconnects of the first series; (d) adhering, with adhering means, a second series of individual flexible interconnects to the rigid members to form a plurality of stations, wherein each of the second series of flexible interconnects is adhered to two rigid members of adjacent flexible interconnects of the first series, the flexible interconnects of the second series being formed perpendicular to the flexible interconnects of the first series; (e) curing the adhering means to form an assembled, layered structure; (f) removing

Abstract: A miniature pump device, with a fluid reservoir that can contain an intravenous drug, hydraulic fluid, or the like. The miniature pump has a motor disposed adjacent the fluid reservoir, and a piston disposed within the fluid reservoir. A power transfer linkage transfers power from the motor to the piston in the fluid reservoir, and a stationary flexible seal is coupled between the fluid reservoir and the power transfer linkage to seal a portion of the power transfer linkage within the fluid reservoir.

Abstract: A remote operator console provides point and go navigation of a robotic vehicle. The remote operator console provides a display for visual representation of the environment in which the robotic vehicle is operating based on sensor information received from the robotic vehicle. An operator may designate a target point on the display. The robotic vehicle is automatically navigated toward a location in the environment corresponding to the designated target point.

Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.

Abstract: A miniature quantum fluid transfer system configured to regulate the flow rate of a fluid by allowing passage of small, discrete increments of fluid through the valve including a valve body having at least one inlet to receive fluid and at least one outlet to release fluid, and a valve rod movably disposed in a first chamber in the valve body. The valve rod has a plurality of fluid passages spaced longitudinally along the valve rod, and the valve rod is movable to align each fluid passage with an inlet or outlet port in the first chamber to allow fluid to flow through selected inlet or outlet ports corresponding to selected fluid passages. The quantum fluid transfer system has a plug movably disposed in a second chamber to push a corresponding volume of fluid out of the second chamber at the end opposite the end the fluid entered.

Abstract: A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A solid state imaging device is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.

Abstract: A mobile robotic lift assistance system that can accommodate and provide for operator manipulation and control of a robotic arm and associated end effector locally from and via the robotic arm itself, and within a zone of operation. The mobile robotic lift assistance system can include one or more robotic arms having an associated extremity control system operable therefrom, wherein the operator enters the zone of operation and engages a control interface device to manipulate and control the robotic arm, any end effector associated therewith, and optionally the mobile platform unit. The control interface system facilitates extremity control by the operator of the mobile robotic lift assistance system.

Abstract: A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.

Abstract: A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.

Abstract: A controllable robotic arm system comprises a base unit and a moveable torso coupled to the base unit. The moveable torso is capable of moving in at least one degree of freedom independently of movement of the base unit. At least one robotic slave arm is moveably coupled to the torso. A master control system is operable to control the robotic slave arm and the moveable torso. The master control system includes an input interface by which a user can cause control signals to be communicated to the robotic slave arm and the moveable torso.