Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • Patent number: 9546914
    Abstract: Methods and apparatuses are disclosed to estimate temperature at one or more critical points in a data processing system comprising modeling a steady state temperature portion of a thermal model at the one or more critical points using regression analysis; modeling the transient temperature portion of the thermal model at the one or more critical points using a filtering algorithm; and generating a thermal model at the one or more critical points by combining the steady state temperature portion of the thermal model with the transient temperature portion of the thermal model. The thermal model may then be used to estimate an instantaneous temperature at the one or more critical points or to predict a future temperature at the one or more critical points.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: January 17, 2017
    Assignee: Apple Inc.
    Inventors: Keith Cox, Gaurav Kapoor, Vaughn Arnold
  • Patent number: 9529190
    Abstract: An optical scanning device includes: a projector configured to radiate laser light incident thereon while causing the laser light to make angular movement around a projection center, and a reflector with a parabolic surface, the reflector being configured to reflect the laser light from the projector. The projection center is positioned at a focal point of the parabolic surface. The projector radiates the laser light such that the greater a difference between a rotation angle of the laser light and a reference angle, the lower an angular speed of the laser light, the reference angle being the rotation angle of the laser light when the laser light reflects on a vertex of the parabolic surface. A laser machining device includes the optical scanning device, and is configured to cause the laser light from the reflector to fall on a workpiece to form a machining line.
    Type: Grant
    Filed: March 25, 2013
    Date of Patent: December 27, 2016
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Mutsuhiro Nakazawa, Kazunori Takahara, Osami Oogushi
  • Patent number: 9457467
    Abstract: A control device includes a main actuator configured to drive a plant through a torque transfer device disposed on a driving side, a load side sub-actuator configured to drive the plant that is disposed on a plant side, and a processor configured to: generate a torque reference input value driving the main actuator and the load side sub-actuator, and cancel out resonance by multiplying the generated torque reference input value by: a first gain including an inertia coefficient, a viscosity coefficient, and a reduction ratio of the torque transfer device on the driving side and on the plant side, and a second gain including: the inertia coefficient, the viscosity coefficient, and the reduction ratio of the torque transfer device on the driving side and on the plant side, and thereby adjusting a ratio of the torque reference input value of the main actuator and the load side sub-actuator.
    Type: Grant
    Filed: February 23, 2015
    Date of Patent: October 4, 2016
    Assignees: THE UNIVERSITY OF TOKYO, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroshi Fujimoto, Kenji Inukai, Taro Takahashi
  • Patent number: 9411335
    Abstract: A suitable waypoint is selected using a goal score, a section from a start point to a goal point through the waypoint is divided into a plurality of sections based on the waypoint with a solution of inverse kinematics, and trees are simultaneously expanded in the sections using a Best First Search & Rapidly Random Tree (BF-RRT) algorithm so as to generate a path. By this configuration, a probability of local minima occurring is decreased compared with the case where the waypoint is randomly selected. In addition, since the trees are simultaneously expanded in the sections each having the waypoint with a solution of inverse kinematics, the solution may be rapidly obtained. A time consumed to search for an optimal motion path may be shortened and path plan performance may be improved.
    Type: Grant
    Filed: July 21, 2010
    Date of Patent: August 9, 2016
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Myung Hee Kim, Kyung Shik Roh, San Lim, Bok Man Lim, Guo Chunxu
  • Patent number: 9381861
    Abstract: A control system for mirror in a vehicle as well as a method for controlling the side mirrors of a vehicle are disclosed. The control system may include a processor module and a memory module as well as a control console. The control console may include a mirror toggle switch, a mirror control switch, and two sets of memory recall switches. The first set of memory recall switches may be associated with set side mirror positions in a first operation state of the vehicle, which could for instance occur when the vehicle is operating in a drive gear. The second set of memory recall switches may be associated with set side mirror positions in a second operation state of the vehicle, which could for instance occur when the vehicle is operating in a reverse gear.
    Type: Grant
    Filed: April 20, 2015
    Date of Patent: July 5, 2016
    Assignee: Seymour Setnor
    Inventor: Seymour Setnor
  • Patent number: 9381645
    Abstract: Described are techniques for storing and retrieving items using a robotic manipulator. Images depicting a human interacting with an item, sensor data from sensors instrumenting the human or item, data regarding physical characteristics of the item, and constraint data relating to the robotic manipulator may be used to generate one or more configurations for the robotic manipulator. Points of contact and force vectors of the configurations may correspond to the points of contact and force vectors determined from the images and sensor data.
    Type: Grant
    Filed: December 8, 2014
    Date of Patent: July 5, 2016
    Assignee: Amazon Technologies, Inc.
    Inventors: Pradeep Krishna Yarlagadda, Cédric Philippe Charles Jean Ghislain Archambeau, James Christopher Curlander, Michael Donoser, Ralf Herbrich, Barry James O'Brien, Marshall Friend Tappen
  • Patent number: 9364951
    Abstract: Described is a system for controlling motion and constraint forces in a robotic system, the system infers constraints, at each time step, from a sensed state of robot/environment interactions. The inferred constraints are appended to known internal robot constraints to generate constrained dynamics. Properties associated with the constrained dynamics are determined provided to a controller. Inequality conditions associated with maintaining desired robot/environment interactions are also determined. A set of equality conditions based on the inequality conditions are then specified. The set of equality conditions are aggregated with any internal robot constraints to generate aggregated conditions that are provided to the controller. Joint torque commands are then generated for the robot based on the aggregated conditions and a specified task and null space motion command. Finally, the robot is actuated based on the joint torque commands.
    Type: Grant
    Filed: October 14, 2014
    Date of Patent: June 14, 2016
    Assignee: HRL Laboratories, LLC
    Inventors: Vincent De Sapio, Heiko Hoffmann
  • Patent number: 9352466
    Abstract: A system and method for adjusting the position and orientation of a feed arm associated with a wafer handling robot. In one embodiment, the system includes a positioning plate detachably carried by the feed arm and insertable therewith into a wafer carrier. The positioning plate includes graphic alignment indicia. An alignment apparatus is provided configured for insertion into wafer-holding slots in the wafer carrier. The apparatus includes at least one digital image sensor. With the positioning plate and alignment apparatus located in the wafer carrier, an image of the alignment indicia is displayed on a video monitor by the image sensor for comparison to a reference mark superimposed on the monitor for determining the relative position and orientation of the feed arm with respect to the wafer carrier. Some embodiments of the apparatus further include a distance detection device to measure the distance to the plate.
    Type: Grant
    Filed: June 1, 2012
    Date of Patent: May 31, 2016
    Assignee: Taiwan Semiconductor Manufacturing Co., Ltd.
    Inventors: Wen-Huang Liao, Hsien-Mao Huang
  • Patent number: 9349629
    Abstract: Methods and systems for the touch auto-calibration for robot placement of substrate in process modules are provided. Touch auto-calibration allows for the automatic calibration of robot end effector positioning with respect to an aligning base in a process module. Touch auto-calibration also allows for calibration of process modules at temperatures and pressures similar to the temperatures and pressures experienced during production. The end effector has one or more aligning surfaces configured to align it with the aligning base upon contact with the aligning base. After contact, the position of the end effector and the calibrated position of the end effector during a pick or place move can then be determined. In some implementations, the positioning of the end effector as it transfers a substrate during production is based on a placement coordinate with the placement correction applied.
    Type: Grant
    Filed: January 23, 2014
    Date of Patent: May 24, 2016
    Assignee: Lam Research Corporation
    Inventors: Richard M. Blank, Peter S. Thaulad, Jacob Lee Hiester
  • Patent number: 9327408
    Abstract: A robot control device includes: an internal force estimating unit; a storage unit in which, in each small region of a rotational operation region of a plurality of joints of a robot arm, an internal force estimated by the internal force estimating unit is subtracted from an output of the force sensor in a state in which the robot arm is not in contact with an external environment, thereby storing a force correction amount; a force correction amount determining unit in which a force correction amount corresponding to each of the current angles of the plurality of joints of the robot arm is determined; and a contact force calculating unit in which a contact force when the robot arm is in contact with an external environment is calculated by subtracting an internal force and the force correction amount from a current output of the force sensor.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: May 3, 2016
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 9329017
    Abstract: An alignment tool assembly (200) is provided. The alignment tool assembly (200) includes a base (201) and a mounting plate (202) coupled to the base (201). The alignment tool assembly (200) further includes one or more alignment blocks (204, 205, 205?) movable with respect to the mounting plate (202). One or more gauge apertures (250) are formed in the mounting plate (202) proximate an alignment block (204, 205, 205?) of the one or more alignment blocks (204, 205, 205?) sized and positioned to receive a portion of an alignment gauge (300).
    Type: Grant
    Filed: March 20, 2012
    Date of Patent: May 3, 2016
    Assignee: Micro Motion, Inc.
    Inventors: Michael Spomer, Stephen Anderson
  • Patent number: 9310796
    Abstract: A multi-driver control method and an apparatus thereof are disclosed in the present invention. The multi-axis control method comprises the following steps: providing a set of control curves, each curve of the set of control curves controls a driver respectively; dividing the curves by a set time period; sending the divided curves in the same time period to the corresponding drivers in one time period, and sending a unified beat signal to all the drivers in order to synchronize execution time of all the drivers; fitting and restoring a programmed motion curve of each driver according to all received divided control curves; taking points at each driver's own programmed motion curve, which is restored locally, of each driver to control the rotation of each driver's own motor.
    Type: Grant
    Filed: March 18, 2013
    Date of Patent: April 12, 2016
    Assignee: DELTA ELECTRO-OPTICS (WUJIANG) LTD.
    Inventor: Liquan Qiu
  • Patent number: 9278450
    Abstract: A rotating mechanism which returning a rotating body to an original position. The first detecting mechanism for detecting that the rotating body is in the original position is provided with a first section-to-be-detected affixed to the rotating body and the first detecting section affixed to a supporting body. A second detecting mechanism is provided with a swing member attached to the supporting body, an engaging member that lets the swing member swing, a second section-to-be-detected affixed to the swing member, and a second detecting section affixed to the supporting body. The first detecting section detects the first section-to-be-detected at one or two positions, and the second detecting section switches between ON and OFF at one position. The rotating body is first rotated to the position at which the second detecting section switches between ON and OFF, in order to return the rotating body to its original position.
    Type: Grant
    Filed: April 17, 2012
    Date of Patent: March 8, 2016
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Yasuyuki Kitahara, Shigeyuki Kaino
  • Patent number: 9259271
    Abstract: A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.
    Type: Grant
    Filed: November 26, 2010
    Date of Patent: February 16, 2016
    Inventors: Mehran Anvari, Lianne Stefurak, Tim Reedman, Timothy Scott Fielding, Michael Richard Max Schmidt, Kevin John Randall, Julian Dobranowski, Colm Boylan, Lawrence Qi Chao Lee, Kevin Warren Morency
  • Patent number: 9248573
    Abstract: The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
    Type: Grant
    Filed: September 28, 2012
    Date of Patent: February 2, 2016
    Assignee: UNIVERSAL ROBOTS A/S
    Inventors: Rune Søe-Knudsen, Esben Hallundbæk Østergaard, Henrik Gordon Petersen
  • Patent number: 9182270
    Abstract: A system and method for determining the load present in a material handling system is disclosed. A commissioning routine executing on a motor drive controls operation of a hoisting motor with a known load present. The commissioning routine stores values of current provided to the motor or torque generated by the motor at various operating speeds in memory on the motor drive. During subsequent runs of the motor drive, the value of the current/torque is monitored as a function of the speed of the motor and compared to the stored values. The resulting value of the load may be monitored and action taken if the value of the load exceeds the rated capacity of the material handling system. Optionally, the measured load may be displayed to an operator.
    Type: Grant
    Filed: May 14, 2012
    Date of Patent: November 10, 2015
    Assignee: Magnetek, Inc.
    Inventors: Kurtis L. Verheyen, Gregory A. Byzewski
  • Patent number: 9176584
    Abstract: A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.
    Type: Grant
    Filed: October 13, 2011
    Date of Patent: November 3, 2015
    Inventors: Jeffrey J. Berkley, Seahak Kim, Sungkwan Hong
  • Patent number: 9155972
    Abstract: A motion platform system comprising a motion platform which is supported above a base by displacement units. Displacement units comprise a drive unit which drives a crank. A connecting arm is connected between the crank and the motion platform, so that translational and tilting movement of the motion platform is achieved by appropriate operation of the drive units. Each connecting arm has a curved profile which enables a full range of movement of the motion platform to be achieved using connecting arms of relatively short length. The connection between the connecting arm and the crank arm can be brought close to, or within, the crank arm. The height of the motion platform above the base, and bearing loads within the drive units, can thus be reduced.
    Type: Grant
    Filed: September 25, 2012
    Date of Patent: October 13, 2015
    Assignee: E2M TECHNOLOGIES B.V.
    Inventors: Pieter Van Lookeren Campagne, Rabih El Zaher
  • Patent number: 9138818
    Abstract: A device and associated system for threading, cutting, and reaming pipe ends are described. The device and system utilizes a brushless DC electric motor. The devices also include on-board electronics and operator interface(s) to provide sophisticated control and information as to the various operations. Also described are methods of operating the devices and several different modes for performing various operations.
    Type: Grant
    Filed: August 11, 2011
    Date of Patent: September 22, 2015
    Assignee: Emerson Electric Co.
    Inventors: Richard Kundracik, Paul W. Gress, James E. Hamm, Glen R. Chartier
  • Patent number: 8998797
    Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: April 7, 2015
    Assignee: Karl Storz GmbH & Co. KG
    Inventor: Shigeru Omori
  • Patent number: 8996174
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Rodney Brooks, Bruce Blumberg, Noelle Dye, Paula Long
  • Patent number: 8972092
    Abstract: In an apparatus for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, and magnetic sensors for detecting intensity of a magnetic field of an area wire and controlled to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and to return to a charging device installed on the area wire so as to charge the battery, there is provided with a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space so as to divide the operating area into a plurality of parts and vehicle running is controlled to be prohibited from going across the turn-back portion.
    Type: Grant
    Filed: February 7, 2013
    Date of Patent: March 3, 2015
    Assignee: Honda Motor Co., Ltd.
    Inventors: Makoto Yamamura, Toshiaki Kawakami, Hiroshi Kobayashi, Ryuichi Kimata
  • Patent number: 8958907
    Abstract: A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: February 17, 2015
    Assignee: Sinfonia Technology Co., Ltd.
    Inventors: Toru Saeki, Yasumichi Mieno, Yuji Urabe, Toshio Kamigaki, Yoji Masui
  • Patent number: 8956275
    Abstract: A portable external device for a mechanical circulation support system includes first and second power sources, e.g. batteries and control electronics for redundant uninterrupted operation of an implantable blood pump. The control and power source module may be configured to accommodate a variety of wearable configurations for patient convenience and comfort.
    Type: Grant
    Filed: June 16, 2014
    Date of Patent: February 17, 2015
    Assignee: Minnetronix Inc.
    Inventors: Nathan J. Bolyard, Don W. E. Evans, Thomas P. Sutera
  • Publication number: 20150042256
    Abstract: In a servo apparatus which comprises a motor, a shaft angle detecting unit and a controlling unit, and performs standard control of an angle position by a torque controlling method, it enables to perform driving control corresponding to a fraction multiple of a predetermined angular unit.
    Type: Application
    Filed: July 28, 2014
    Publication date: February 12, 2015
    Inventor: Somei Kawasaki
  • Patent number: 8928268
    Abstract: There are provided a signal duty detecting apparatus detecting a duty of a pulse width modulation (PWM) signal by counting a signal, among signals present in a preset period of the PWM signal, having a predetermined level or higher and a motor driving apparatus having the same. The signal duty detecting apparatus includes: a level detector detecting levels of an input signal; a counter counting the levels detected by the level detector; and a duty calculator calculating a duty of the input signal based on the levels counted by the counter.
    Type: Grant
    Filed: August 14, 2012
    Date of Patent: January 6, 2015
    Assignee: Samsung Electro-Mechanics Co., Ltd.
    Inventor: Bon Young Koo
  • Patent number: 8912746
    Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.
    Type: Grant
    Filed: October 26, 2012
    Date of Patent: December 16, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Robert Cyrus Reid, John W. Zabinski, Alan Eton Loh, Bruce M. Schena, David W. Weir, Gregory W. Dachs, II, David W. Bailey, Melody Wu
  • Patent number: 8901870
    Abstract: A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.
    Type: Grant
    Filed: July 12, 2012
    Date of Patent: December 2, 2014
    Assignee: Omron Corporation
    Inventors: Takaaki Yamada, Hiroshi Sawaragi, Junji Shimamura
  • Patent number: 8896255
    Abstract: A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.
    Type: Grant
    Filed: June 3, 2013
    Date of Patent: November 25, 2014
    Assignee: Fanuc Corporation
    Inventors: Yasusuke Iwashita, Kenichi Takayama, Satoshi Ikai
  • Patent number: 8890457
    Abstract: Systems and methods for controlling motors are provided. In this regard, a representative system, among others, includes memory, a motor controller, and a motor. The memory is configured to store sequence information and the motor controller is configured to: receive instructions from a processing device of the system, receive the stored sequence information based on the received instructions, generate at least one drive signal based on the received sequence information, and transmit the at least one drive signal. The motor is configured to be operated based on the transmitted drive signal.
    Type: Grant
    Filed: September 19, 2008
    Date of Patent: November 18, 2014
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventors: Eric F. Aas, Justin Forrester, Jeffrey D. Schwartz
  • Patent number: 8892260
    Abstract: A system including a mobile telepresence robot, a telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.
    Type: Grant
    Filed: September 30, 2013
    Date of Patent: November 18, 2014
    Assignee: iRobot Corporation
    Inventors: Matthew Cross, Tony L. Campbell
  • Patent number: 8890458
    Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).
    Type: Grant
    Filed: January 13, 2012
    Date of Patent: November 18, 2014
    Assignee: Oracle International Corporation
    Inventors: Timothy Craig Ostwald, Joseph Paul Manes, Daniel James Plutt
  • Patent number: 8849452
    Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.
    Type: Grant
    Filed: May 25, 2010
    Date of Patent: September 30, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masanori Takeda, Mitsuhide Kuroda, Shigeru Kanzaki, Takahide Yoshiike, Takumi Kamioka
  • Patent number: 8836266
    Abstract: A small motor controller (SMC) system includes a motor configured to control a position of a rotor, a sensor configured to detect position information of the rotor by detecting a feature on the rotor, the sensor including a detection zone having a first side and a second side, and a motor control unit. The motor control unit is configured to determine a position of the rotor corresponding to one of the first side of the detection zone and the second side of the detection zone based on whether the feature on the rotor is detected crossing the first side or the second side, respectively.
    Type: Grant
    Filed: July 18, 2012
    Date of Patent: September 16, 2014
    Assignee: The Johns Hopkins University
    Inventors: Kapil D Katyal, Matthew P. Para, Andrew J. Harris, Harry A. Eaton
  • Patent number: 8829845
    Abstract: Embodiments of the invention provide a starter machine including an electronic control unit. The electronic control unit can be in communication with one or more sensors. The control system can include a starter machine that is in communication with the electronic control unit. The starter machine can comprise a solenoid assembly that includes a plurality of biasing members, a motor that is coupled to a pinion, and power module and controller that is coupled to the motor. In some embodiments, at least one of the power module and the controller are configured to control a speed of the pinion to substantially synchronize the pinion speed and the speed of an engine component.
    Type: Grant
    Filed: February 28, 2012
    Date of Patent: September 9, 2014
    Assignee: Remy Technologies, LLC
    Inventor: Michael D. Bradfield
  • Patent number: 8823308
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: September 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8816628
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: August 26, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8798790
    Abstract: An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
    Type: Grant
    Filed: March 9, 2011
    Date of Patent: August 5, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yosuke Kamiya, Yasuyuki Inoue, Hideo Nagata
  • Patent number: 8796965
    Abstract: A DC brushless motor includes a rotary actuation shaft having multiple poles. Each of the poles has multiple commutation steps. The DC brushless motor also includes a motor controller capable of controlling rotation of the rotary actuation shaft. The motor controller stores a commutation step map.
    Type: Grant
    Filed: September 29, 2011
    Date of Patent: August 5, 2014
    Assignee: Precision Engine Controls Corporation
    Inventor: Joel Mawhinney
  • Patent number: 8781689
    Abstract: A vehicle seat assembly is provided with a support structure and a head restraint supported by the support structure and being movable relative to the support structure between a first position and a second position. An actuator is connected to the head restraint for moving the head restraint, and a controller is in communication with the actuator. A sensor array is supported by one of the support structure and the head restraint and in communication with the controller. The sensor array has a first region and a second region. The sensor array is configured to sense an input of the first region and second region being sequentially activated. The sensor array communicates the input to the controller, and the controller causing the actuator to move the head restraint.
    Type: Grant
    Filed: March 16, 2011
    Date of Patent: July 15, 2014
    Assignee: Lear Corporation
    Inventors: Arjun Yetukuri, David A. Hein, Gerald S. Locke
  • Patent number: 8775052
    Abstract: A method for isolating an actual sensor bias in a fuel delivery system having a fuel pump includes monitoring first, second and third fuel pump parameters, detecting first and second fuel pump sensor biases based on the monitored first, second and third fuel pump parameters, modeling a fourth fuel pump modeled parameter based on the monitored second and third fuel pump parameters, and isolating the actual sensor bias in one of the detected first and second fuel pump biases based on the monitored third fuel pump parameter and the modeled fourth fuel pump modeled parameter.
    Type: Grant
    Filed: December 15, 2011
    Date of Patent: July 8, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Youssef A. Ghoneim, Mark N. Howell
  • Patent number: 8773059
    Abstract: A controller chip for controlling a motor device includes a first input port, a first output port, a controller, and a signal processing circuit. The first input port is arranged to receive a motor control input. The first output port is arranged to generate a motor control output. The controller is arranged to generate an output signal according to an input signal, and has a second input port for receiving the input signal and a second output port for outputting the output signal. The input signal is derived from the motor control input, and the motor control output is derived from the output signal. The signal processing circuit has a target interconnection configuration selected from a plurality of candidate interconnection configurations each including an interconnection between the first input port and the second input port and an interconnection between the first output port and the second output port.
    Type: Grant
    Filed: March 28, 2011
    Date of Patent: July 8, 2014
    Assignee: Mediatek Inc.
    Inventors: Kuan-Kai Juan, Yen-Lin Chen, Chih-Lung Tai, Hao-Hui Yin, Hung-Yen Chen, Chih-Chuan Chen, Hung-I Chen, Ming-Jiou Yu
  • Patent number: 8761932
    Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.
    Type: Grant
    Filed: June 18, 2013
    Date of Patent: June 24, 2014
    Assignee: C.H.I. Development Mgmt. Ltd. XXIV, LLC
    Inventor: John R. Lapham
  • Patent number: 8760093
    Abstract: An electronic control apparatus for a vehicle, which operates a power conversion circuit connected to a rotating machine used as an in-vehicle traction unit to control controlled variables of the rotating machine, includes a controlling arithmetic processing unit which performs arithmetic processing to control the controlled variables of the rotating machine, and a monitoring arithmetic processing unit which monitors the controlling arithmetic processing unit. The monitoring arithmetic processing unit includes an on-monitoring prohibition unit which prohibits outputting an operation signal from the controlling arithmetic processing unit to the power conversion circuit until the controlling arithmetic processing unit is confirmed to be in a normal condition.
    Type: Grant
    Filed: September 13, 2011
    Date of Patent: June 24, 2014
    Assignee: Denso Corporation
    Inventor: Akito Itou
  • Patent number: 8753256
    Abstract: A portable external device for a mechanical circulation support system includes first and second power sources, e.g. batteries and control electronics for redundant uninterrupted operation of an implantable blood pump. The control and power source module may be configured to accommodate a variety of wearable configurations for patient convenience and comfort.
    Type: Grant
    Filed: October 11, 2013
    Date of Patent: June 17, 2014
    Assignee: Minnetronix Inc.
    Inventors: Nathan J. Bolyard, Don W. E. Evans, Thomas P. Sutera
  • Patent number: 8749190
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: June 10, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8749189
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: June 10, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8686679
    Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.
    Type: Grant
    Filed: December 14, 2012
    Date of Patent: April 1, 2014
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass
  • Patent number: 8680806
    Abstract: A numerically controlled machine tool has a linear and rotational feed and has functions for measuring in advance, errors of a relative position and a relative attitude of a main spindle relative to a work table by positioning the linear and rotational feed axes to specified position and attitude, and correcting a movement command based on measured error data, the data being multi-dimensional data containing a position error and an attitude error. The machine tool includes a error data storage means which store an error map prepared by collecting a plurality of the error data corresponding to positions and rotation angles of the linear and rotational feed axes, and a correction data computing means which compute correction data for correcting movement command from a command position for the linear and rotational feed axes and the error data stored in the error data storage means.
    Type: Grant
    Filed: April 29, 2010
    Date of Patent: March 25, 2014
    Assignee: Makino Milling Machine Co., Ltd.
    Inventors: Norio Mori, Tadashi Kasahara, Tadahiro Nishiguchi
  • Patent number: 8659256
    Abstract: A robot confinement system includes a portable housing and a mobile robot. The portable housing includes an emitter operable to emit a first signal when a presence of the robot is detected in a field of detection. The robot includes a controller operable to control a movement path of the robot on a surface and a cleaner operable to clean the surface as the robot moves on the surface. The robot further includes a detector operable to detect the first signal emitted by the portable housing. The controller is operable to change the movement path of the robot in response to detection of the first signal. One of the portable housing and the robot is operable to detect a second signal generated by the other of the portable housing and the robot to detect the presence of the robot in the field of detection.
    Type: Grant
    Filed: June 30, 2010
    Date of Patent: February 25, 2014
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass