Abstract: Described is a method and device of a computational motion engine iteratively computing a numerical “jerk,” the motion derivative of acceleration, using real-time feedback from a system under motion control, to reach both a desired position and desired velocity of a next waypoint. Output from the motion engine is only desired acceleration, which is then passed to a motor driver, free of intermediate computations of either position or velocity. A second, inside feedback loop maintains desired acceleration or torque at the motor shaft based on the acceleration output of the motion engine, which may use non-linear correction tables. Waypoints comprising both position and velocity are inputs to the motion engine. Time to next waypoint is computed rather than provided as an input. Optimization of moves to the next waypoint is based on smoothest velocity change during the move. Embodiments include mechanical, two-axis SCARA arm motion systems.

Abstract: A device and method of iterative motion control is described using a non-linear table in a feedback loop to convert a desired acceleration input to motor drive outputs, where the motor is part of a controlled motion system. The table may be a two- or three-dimensional table additionally responsive to the current system state, such as shaft speed, position, or phase angle. The motor may be a two-coil stepper motor where the corrected non-linearity serves the purpose of maintaining desired toque. Inputs may be waypoints comprising both a target position and target velocity. The motion system may use an inverted SCARA arm. Up to three non-linear correction tables may be used: a first corrects motor steps to a more accurate shaft angle; a second corrects motor drive signals to achieve desired torque; a third correct motor drive signals responsive to shaft speed. Tables may be generated by a series of motion passes using a fixed shaft offset angle for each pass.

Abstract: Described is a method and device of a computational motion engine iteratively computing a numerical “jerk,” the motion derivative of acceleration, using real-time feedback from a system under motion control, to reach both a desired position and desired velocity of a next waypoint. Output from the motion engine is only desired acceleration, which is then passed to a motor driver, free of intermediate computations of either position or velocity. A second, inside feedback loop maintains desired acceleration or torque at the motor shaft based on the acceleration output of the motion engine, which may use non-linear correction tables. Waypoints comprising both position and velocity are inputs to the motion engine. Time to next waypoint is computed rather than provided as an input. Optimization of moves to the next waypoint is based on smoothest velocity change during the move. Embodiments include mechanical, two-axis SCARA arm motion systems.

Abstract: A device and method of iterative motion control is described using a non-linear table in a feedback loop to convert a desired acceleration input to motor drive outputs, where the motor is part of a controlled motion system. The table may be a two- or three-dimensional table additionally responsive to the current system state, such as shaft speed, position, or phase angle. The motor may be a two-coil stepper motor where the corrected non-linearity serves the purpose of maintaining desired toque. Inputs may be waypoints comprising both a target position and target velocity. The motion system may use an inverted SCARA arm. Up to three non-linear correction tables may be used: a first corrects motor steps to a more accurate shaft angle; a second corrects motor drive signals to achieve desired torque; a third correct motor drive signals responsive to shaft speed. Tables may be generated by a series of motion passes using a fixed shaft offset angle for each pass.

Abstract: A machine tool incorporating two angular axes as an inverted SCARA arm and a vertical, linear Z-axis, is described. A build surface on which a 3D object may be additively built is rotated around a lambda axis and also revolved around a theta axis. Embodiments are described that: (i) are free of belts, pulleys, cables and other soft drive mechanisms; (ii) place all three axis motors below a base plate; (iii) direct drive the build surface from shafts of a lambda and theta motor; (iv) are free of a rectangular box frame; (v) use angle sensors mounted directly on motor drive shafts; (vi) measure and compensate for build surface skew; (vii) incorporate a single element for both Z-axis support and a bearing surface. Both device and method embodiments are claimed.

Abstract: A machine tool incorporating two angular axes as an inverted SCARA arm and a vertical, linear Z-axis, is described. A build surface on which a 3D object may be additively built is rotated around a lambda axis and also revolved around a theta axis. Embodiments are described that: (i) are free of belts, pulleys, cables and other soft drive mechanisms; (ii) place all three axis motors below a base plate; (iii) direct drive the build surface from shafts of a lambda and theta motor; (iv) are free of a rectangular box frame; (v) use angle sensors mounted directly on motor drive shafts; (vi) measure and compensate for build surface skew; (vii) incorporate a single element for both Z-axis support and a bearing surface. Both device and method embodiments are claimed.

Abstract: A 3D printer incorporating two angular axes as an inverted SCARA arm and a vertical, linear Z-axis, is described. A platter on which a 3D object is built is rotated around lambda axis and revolved around a lambda axis. Embodiments are described that: (i) are free of belts, pulleys, cables and other soft drive mechanisms; (ii) are free of any lead-screw compensating devices; (iii) are free of rectangular box frame; (iv) translate X-Y-Z voxel coordinates into an angular coordinate system, optionally in real-time; (v) optimize non-sinusoidal drive waveforms for stepping motors; (vi) deal with special cases at or near the lambda axis; (vii) measure and compensate for non-orthogonal platter skew. Both device and method embodiments are claimed.

Abstract: A light source. The light source may comprise a substrate comprising at least one flexible portion; an illumination source mounted on the flexible portion; and a structural unit positioned relative to the flexible portion to determine a deflection angle of the flexible portion. An illumination angle of the light source may be dependent on the deflection angle of the flexible portion. Instruments including the light source are also disclosed, along with a method of changing the illumination angle of the light source. The method may comprise the steps of removing the structural unit and replacing the structural unit with a second structural unit positioned relative to the flexible portion to deflect the flexible portion by a second deflection angle.

Abstract: A towed scraper control system automatically lowers the scraper blade to a working position at the start of a scraping operation according to a certain method. The method includes sensing a ground speed of the vehicle and sensing a draft force applied by the scraper to the vehicle. With the vehicle pulling the scraper at or near a target ground speed over terrain with the blade positioned above a surface of the ground, the blade is automatically lowered with respect to the scraper frame at a first rate until the blade begins to engage the surface of the ground. Thereafter, while the vehicle continues to move forward at or near the target ground speed, the blade is lowered with respect to the frame at a second rate and for a duration related to the sensed ground speed so that lowering of the blade stops when the scraper wheel begins to enter a cut produced by the blade.

Abstract: An environment for immersive training of medical personnel through the use of patient simulators in simulated real life conditions. Specifically, a multitude of specifically configured rooms which are outfitted for the support and interfacing of patient simulators including a control room for driving the patient simulators. The control room may be provided in a central location and may include glass, such as one-way glass. The rooms may be adaptable for use in various situations and circumstances.

Abstract: A method is provided for automatically determining a hitch raise rate calibration value for a hitch control system having a hydraulic actuator for moving the hitch, a valve for controlling flow of hydraulic fluid to the actuator and an electronic hitch control unit. The method includes applying a first control signal to the valve to cause the hitch to raise, determining a first hitch velocity as the hitch moves in response to the first control signal, and repeating these steps for a second control signal. The raise rate calibration value is then calculated as a function of a desired raise velocity, the first and second control signals and the first and second velocities.

Abstract: A foot controlled engine start and stop system characterized by a control circuit arranged among an ignition switch, an ignition grounding circuit, a warm-up switch, a starter motor, an accelerator pedal, an alternator and an actuator to disengage the parking brake when the engine is started. The system controls automatic start and stop of the starter motor and engine by feeding back the output frequency of the alternator. When installed on an off-road utility vehicle, this system, will allow the operator to conveniently start and stop the engine by depressing or releasing the accelerator pedal. The system senses the engine speed by monitoring the frequency of the alternator output voltage and disables the starter circuit when the engine speed is at or above a level necessary to allow the engine to run without starter assistance. When the operator removes his/her foot from the accelerator pedal, the ignition circuit is grounded to stop the engine.