Abstract: This invention relates to an object locating apparatus which can be used for locations of various objects. The apparatus comprises a laser device capable of projecting a laser beam which serves as a mark of a predetermined position of an object to be located, a mechanism for holding and moving said laser device, means for driving said mechanism so as to move said laser device, and means for numerically controlling the drive means so as to stop said laser device at a predetermined position.

Abstract: A monolithic photosensor array comprises first, second and third identical photodiodes. A light emitting diode illuminates the third photodiode continuously. An occluder disc is rotatably driven from the shaft of a servo motor between the light emitting diode and the first and second photodiodes. The disc is formed with a plurality of circumferentially spaced apertures which alternately cover and uncover the photodiodes which produce quasisinosoidal position signals in response thereto, the position signals of the first and second photodiodes being relatively 90.degree. out of phase. A computing circuit produces a motor shaft velocity command signal corresponding to the number of steps the shaft must rotate from the initial position to the new desired position and progressively reduces the magnitude of the velocity signal in response to the position signals.

Abstract: Improved drive logic for a stepper motor is provided using a closed loop feedback system which includes a coded disk driven by the motor and decoding means to derive signals from said disk. The motor is operated at varying speeds in accordance with variations in the lead angle between the energized motor windings and the motor shaft position. Motor drive signals are generated in response to the sensing of leading or trailing edge pulses from the coded disk, and the lead angle, and thus the speed of the motor, may be increased or decreased by selectively shifting the control of the drive signals from a pulse leading edge to a pulse trailing edge or vice versa, thereby providing a change in the lead angle. In addition, pulses from the coded disk may be blanked in order to effect a decrease in motor speed.

Abstract: A sensor array produces two sinusoidal position signals which vary in phase by 90.degree. in response to rotation of a servo motor shaft. These position signals are inverted and the position signals and their inversions are commutated to produce a velocity signal. A position error signal is generated which indicates the difference between the actual motor shaft position and the command position. A reference signal is voltage divided in accordance with the position error signal to produce a velocity command signal which is compared with the velocity signal to produce a motor drive signal. The position signals and their inversions are half wave rectified, integrated and summed to produce the reference signal as a varying D. C. signal, the magnitude of which corresponds to the amplitude of the position signals and compensates for variations in said amplitude caused by high frequency attenuation in the sensor array and like phenomenon.

Abstract: An analog of a path through which a cross slide table, for example carrying a workpiece or a tool is to be moved is traced on a drawing sheet. At points of change of direction or commanded speed of movement, graphic machine-readable symbols are placed on the drawing. A sensor, with sensing elements located in the quadrants of an x-y coordinate system, preferably secured to the cross slide itself, is placed above the graphic drawn representation of the movement path, the graphic representation is introduced by means of a program carrier beneath the cross slide and, upon recognition of symbols representing change of direction, speed of movement, suitable signals are derived which control servo motors moving the cross slide and the sensor in accordance with the sensed signals picked up by the sensor from the graphic representation of the movement immediately beneath the cross slide table itself, thus avoiding the necessity of numerical or other programmed input to the cross slide.

Abstract: A reflector of an optical system has its position controlled by piezoelecc devices operating at three points of the reflector disposed at the apices of an equilateral triangle. These are driven by summing amplifiers each of which has an input to which a signal for producing displacement of the reflector without change of tilt is provided and one or more inputs connected to the output of a matrix circuit responsive to signals for producing tilt of the reflector about two mutually perpendicular axes both perpendicular to the direction of displacement produced by the previously mentioned inputs.

Abstract: Visual system for determining position in space and/or orientation in three-dimensional space for purposes, for example, of directing or instructing an industrial robot to perform manipulative acts and apparatus employing the visual system. The system includes a portable object arbitrarily movable in three-dimensional space and possessing the discernible properties of position in space and/or orientation in space. One or more sensors extract visual information or image data from the portable object and convert the same to an electric signal or signals. A computer is connected to receive the signal or signals which are analyzed and, in the case of the industrial robot, the information obtained is used to prepare operating instructions.

Abstract: In infrared spectroscopy utilizing an interferometer, position stepping of the optical path difference in the interferometer must be accomplished quite rapidly in response to a drive signal applied to a moveable mirror in the interferometer which is proportional to the offset distance desired from the previous null point. As the mirror moves in response to this drive signal, effectively getting closer to the new null point, the drive signal is gradually reduced, in response to detected reference laser fringes. At the new null position, the drive signal will effectively be zero. A binary up/down counter drives a digital/analog converter (DAC). The output from the DAC is supplied to the mirror moving means. The fringes generated by a reference laser are detected as the mirror moves, causing the up/down counter to be decremented to its null count, thereby reducing the output of the DAC, as the mirror moves towards its new null position.

Abstract: An interferometric correction system for a numerically controlled machine is provided to improve the positioning accuracy of a machine tool, for example, for a high-precision numerically controlled machine. A laser interferometer feedback system is used to monitor the positioning of the machine tool which is being moved by command pulses to a positioning system to position the tool. The correction system compares the commanded position as indicated by a command pulse train applied to the positioning system with the actual position of the tool as monitored by the laser interferometer. If the tool position lags the commanded position by a preselected error, additional pulses are added to the pulse train applied to the positioning system to advance the tool closer to the commanded position, thereby reducing the lag error.

Abstract: An automatic machine including a two-dimensional positioning table, a device for measuring the dispositions attained by the table in each of said dimensions and a tool holder having an operative center in respect to said two dimensions. Furthermore means are provided for imaging a graticule means to an operative plane of the table so that the center of said image is substantially aligned with the operative center of the tool holder. A visual input device is positioned to view a part of said operative plane including said graticule image and comprises pattern recognition apparatus for:(a) identifying a predetermined mark on a flat surface of an object carried by said table, said flat surface lying in said operative plane,(b) identifying said graticule image, and(c) measuring the separation of said mark from said graticule image center.

Abstract: Apparatus for sensing and transmitting physical intelligence is disclosed. In one embodiment the intelligence is transmittable from the sensing device to a remotely positioned, intelligence processing unit. The apparatus taught has particular applicability to gas turbine engine control systems requiring the encoding and transmission of accurate physical intelligence from a hostile environment to the remotely positioned intelligence processing unit. Techniques employing time sequencing through a fiber optic circuit of the transmitted intelligence to reduce the size, weight and complexity of the apparatus are developed.

Abstract: An apparatus is provided for controllably moving a load in a return mode back to a first or home position by a motor driven shaft, which shaft moves the load toward a second position in a forward mode to track a moving object field. An apertured fan-shaped timing disk or element is secured to the rotating shaft to move therewith. A position feedback sensor senses the angular displacement of the shaft by generating a feedback signal upon optoelectronically sensing an aperture in both the forward and return modes. An optoelectronic sensor detects the passage of the moving object field to provide a return signal after the object field has passed a predetermined position. A motor and its amplifier controllably move the load back to the first position in the return mode in response to the return signal. The inertia of the system causes the shaft to rotate to move the load to the second position in the return mode after responding to the return signal.

Abstract: Disclosed herein is a chip bonding unit including a collet for holding a semiconductor chip, a table or bed for mounting the chips and a working table for holding a base plate to which the chip is to be attached, said collet being capable of relative movement with respect to the bed and the working table. In the chip bonding system according to the present invention, a light source and a light receiving element are disposed for detecting a silhouette of the chip by means of the scanning of the surface of said chip by the light source so as to thereby confirm the configuration, position and angle of the chip. The relative motion of the collet and chip is controlled so that the chip comes to a normal position and, then, the chip is picked up by the collet. Finally, the relative position of the collet and the working table is controlled so that the chip is attached to a predetermined position on the base plate.

Abstract: A speed control device for a moving member which comprises a moving member, driving mechanism for the moving member, position coherent light containing a position information of the moving member, reference coherent light so formed as to not containing the position information of the moving member for required formation of the position coherent light and an interference light, interference light forming means utilizing the position coherent light and the reference coherent light, means for detecting interference light formed by the interference light forming means, and controlling means for the driving means to render the detected output obtained by the detection means to become a sinusoidal wave having a predetermined frequency.

Abstract: The position adjusting apparatus comprises a stationary frame, first and second movable stages respectively, disposed on X and Y axes intersecting at right angles, a plurality of dynamic type electro-mechanical transducers mounted on the axial ends of each movable stage, a first resilient supporting member for mounting the first movable stage to be movable in the direction of X axis, a second resilient supporting member mounted on the first movable stage forming the second movable stage in the direction of the Y axis, and a platform mounted on the second movable stage for supporting an object whose position is to be adjusted.

Abstract: Timing control apparatus for varying the ignition timing of a combustion engine in response to changes in engine r.p.m. including a meter having a hand, a gate carried at the end of the hand for blocking one of two light beams on movement of the hand, circuit means responsive to blocking of a light beam for energizing a servo motor, and mechanical means driven by the servo motor for both varying the engine timing and rotating the light beam so that the light beam is no longer blocked.

Abstract: A guidance system for seeking, following, and maintaining the position of a welding apparatus with respect to a seam or joint to be welded by sensing changes in the surfaces, hereinafter called reference surfaces, at or adjacent to the seam. The system includes a probe adapted to detect and follow the reference surface(s) and to detect changes and deviations in the vertical and/or horizontal components of these surfaces, respectively. The torch of the welding apparatus is mounted upon and positioned by a motor-driven cross-slide providing both horizontal and vertical movement. The probe is mounted on the torch or on its own slide, which may be either on the torch or separate therefrom.

Abstract: A metering device comprises a photoelectric converter circuit for generating a first voltage corresponding to the brightness of a subject to be photographed. The converter circuit includes a photoelectric converter element and a first conductor element for logarithmically converting the output of the photoelectric converter element. The device further comprises a voltage generating circuit including a second semiconductor element and a current source for flowing a current proportional to an absolute temperature to a resistor connected in series to the second semiconductor element. The voltage generating circuit is effective to generate a second voltage comprising the sum of the voltages generated in the resistor and the second conductor element. The difference beween the first and the second voltage is put out by a differential amplifier.

Abstract: Apparatus for controlling deformation of an elongate member, such as a lattice girder, comprises a torque transmitting member, such as a hollow cylindrical tube, extending for the length of the girder coaxially with its longitudinal axis and fixed at one end to one end of the girder. The cylinder is free to rotate relative to the girder at its other end and is connected by hydraulic actuators to be rotated relative to the girder in response to the measurement of rotation between the ends of the girder. The relative rotation of the tube transmits torque to the fixed end and resists deformation of the girder.

Abstract: Particular zones are given a distinctive appearance with respect to surrounding areas on a surface such as a printed-circuit board to be drilled in an automatic process. The surface is automatically scanned in a system of two rectilinear perpendicular coordinates by a reader comprising at least one detector which is responsive to the distinctive appearance. The coordinates of the surface points for which the detector delivers a signal representing the presence of the distinctive appearance during the scanning are recorded in a coded form which can be utilized by the automatic machine.

Abstract: A wire bonding system is disclosed wherein a patterned substrate to be bonded is composed of at least two materials having different emission rates of infra-red rays, and a point to be bonded on the patterned substrate is positioned so as to coincide with a predetermined reference position. The present invention includes a servo-mechanism, which moves the patterned substrate, and a detecting element which scans the surface of the patterned substrate in a linear direction and detects the infra-red rays radiated therefrom. A pattern figure is obtained by using the differences in the emission rate of the infra-red rays caused by the material of the pattern. A signal which indicates the pattern figure is compared with another signal which indicates the reference position, and a control signal, corresponding to the difference between the point on the pattern to be bonded and the reference position, is obtained.

Abstract: A drum control system for providing a predetermined incremental lateral spacing on a drum surface to be accessed in response to a request signal therefor in which the degree of rotation of the drum is controlled in response to the request signal to provide the predetermined incremental lateral spacing by selectively optically reading one of a plurality of optically readable encoded discs each of which has a plurality of circumferentially extending bands, with each of the bands being encoded to correspond to a different uniform proportionate degree of incremental rotation of the drum. The discs are optically read by associated selectively energized optical readers, such as photocells, when the band to be read is illuminated by a substantially simultaneously selectively energized light source.

Abstract: The motor is to be controlled to execute steps having a preselected step length. A displacement transducer is coupled to the motor and furnishes a displacement signal having a constant first predetermined value during motor movement by a predetermined fraction of said step length and changes to a second predetermined value during motor movement by the remainder of the step length. A voltage divider circuit and a differentiator circuit are connected to the output of the transducer and furnish a proportional and a differentiated signal. The two signals are combined in an operational amplifier whose output serves as a control signal for controlling the operation of the motor. The transducer includes three light transmitter-receiver pairs which are switched on in a first sequence when the motor rotates in one direction and in a second sequence for rotation in the opposite direction.

Abstract: Electrical discharge machining apparatus having means to sense the position of the electrode at the start of EDM machining of a workpiece. The apparatus includes means to measure the forward movement of the electrode during each machining cycle and regulate the backward retracting movement of the electrode to a preselected distance so as to compensate for erosion of the electrode during the machining cycle to thereby facilitate positioning of the electrode in the correct location for the next machining cycle. The apparatus includes a sensing device operable to transmit electrical pulses corresponding to incremental movements of the electrode and control circuitry which receives the pulses and controls subsequent movement of the electrode.

Abstract: Transmitters generating rotating laser beams are commonly employed for surveying and earth working equipment control purposes. This invention relates to a method and apparatus for automatically maintaining the rotating laser beam in a required plane which is either exactly horizontal or at a known angle to the horizontal. The apparatus includes two remotely located laser beam reflectors which, when traversed by the rotating laser beam, respectively reflect the beam back to the transmitter along a path parallel to, but vertically displaced from the original path of the beam from the transmitter. Receiving equipment at the transmitter analyzes the vertical positions of the two reflected beams and effects any required correction of the position of the transmitter to maintain the rotating laser beam in the desired plane.

Abstract: A stepping motor is simulated by controlling the orientation of a servomotor's shaft with a control feedback circuit that generates a control signal based upon signals from an optical shaft encoder. The encoder includes a rotary light mask having symmetrically arranged transparent and opaque regions which move across the axes of paired, fixed, optical channels. The two channels of each pair are angularly disposed around the axis of the light mask such that, whenever the light fluxes striking both channels' detectors are changing, one will be increasing and the other decreasing. The analog control signal is generated as the difference of the voltage outputs of paired detectors.

Abstract: Alignment of a mask and a semiconductor wafer to be processed is effected by orthogonal and angular movements of the mask singly and in combination. A carrier for the mask is supported on four orthogonally positioned transducers which, when actuated to elongate or contract, produce carrier translational movement in either or both orthogonal directions and/or rotational movement by selective elongation and contraction of one or more transducers. Actuation of the transducers and the alignment are obtained by signals from a feedback system including photon detection and multiple frequency oscillation utilizing alignment marks on the mask and the wafer.

Abstract: Apparatus is disclosed for transporting and cutting film in a computer output microfilmer which includes mechanisms for transporting and cutting the film respectively, and circuitry responsive to successive sequences of pulses for controlling such mechanisms. The transport mechanism includes a pair of stepping motors having phase windings responsive to current pulses which drive the film in mutually perpendicular directions respectively. Motor control circuits responsive to the pulses are operative to switch current through these phase windings so that successive columns, each containing a plurality of frames in which images may be recorded, are disposed successively at a film gate. The shaft of the motor which transports the film in the columnar direction has an optical sensor which produces output signals corresponding to the location of the film at a reference position.

Abstract: A spectrophotometer including a wavelength stepper motor driving a wavelength scanning mechanism and a chart stepper motor driving a chart recorder, both motors being operative in response to driving pulses received from a system clock. The upper limit of a wavelength scan interval is established by manually adjusting the wavelength scanning mechanism to the desired limit. The length of a desired scan interval is selected by the operator and loaded into a counter which decrements in response to the driving pulse input to the wavelength motor. The counter generates an output signal after a predetermined count which clocks a switching circuit for reversing, inhibiting, or otherwise controlling the wavelength and chart motors. Other inputs to the switching circuit provide for either serial or overlay chart recording and for either continuous or manually controlled scanning.

Abstract: Article classifying apparatus comprises means for conveying articles in series to a work station. At the work station means are provided for establishing a machine readable classification code on each article. The apparatus also includes means for varying the speed of the conveying means.

Abstract: A control circuit for servo-motors comprising a photoelectric element, a logarithmic conversion element, one or more operational amplifier, and a constant-current circuit so that various informaton in a wide range can be easily introduced into the circuit and that the influence of change of the power-source voltage and hunting phenomenon can be eliminated.

Abstract: A two-wire transmitter for converting a motion input into a D.C. milliampere output signal that varies linearly with the angular rotation of a mechanical arm. The transmitter employs a position balance principle accomplished by reflecting a light beam from a light emitting diode against a mirror of a D'Arsonval movement upon a dual element photocell. Movement of the input arm displaces the light beam to unbalance a bridge circuit, the increase voltage thereof increasing the current in an output loop which is fed back through the D'Arsonval motor coil. Rotation of the coil rotates the mirror to swing the light beam toward the center of the photocell and rebalance the system to meet new input conditions.

Abstract: Apparatus is provided for generating position signals useful and particularly advantageous as feedback inputs to a servo control system for a paper cutting machine movable back gauge assembly. The generated feedback signals provide binary-coded position information associated only with key control positions established at selected intervals in the back gauge total traverse and pulsed counting information for incremental position changes in each interval between the key control positions.

Abstract: An automatic steering system for vessels, operational in a manual mode to select a desired heading, and in an automatic mode to maintain the selected heading. In the manual mode, a magnetic compass incorporated in a servo loop is maintained at a null position to continually monitor the vessel heading. When the system is switched to the automatic mode, the compass servo loop is deactivated and a control loop activated. The control loop keeps the compass output at null by maintaining the vessel on the selected heading. Automatic course corrections are accomplished by turning the helm an amount proportional to a deviation signal, and immediately returning the helm to its original position less a small preset angle. A wireless remote control unit affords the capability of remotely steering the vessel, selecting a new course, and switching between automatic and manual modes.

Abstract: A regulating arrangement comprises a subtracting amplifier having an output and two inputs, and producing at the output a voltage equal to a first factor times the voltage at one of the inputs minus a second factor times the voltage at the other of the inputs. A motor circuit is connected across the output of the subtracting amplifier. The motor circuit includes a motor connected with an impedance. The impedance is connected with the motor and with the output of the subtracting amplifier and enforces a voltage drop across the motor of magnitude differing from the voltage magnitude across the amplifier output by at least the magnitude of the voltage drop across the impedance. The voltage drop across the motor increases in magnitude as the motor current supplying energy to the motor decreases. Accordingly the voltage drop across the motor tends to increase as the motor speed increases. A command unit applies to one of the inputs of the subtracing amplifier a voltage effecting desired motion of the motor.

Abstract: A positioning apparatus comprising marks for position detection which are respectively formed on a plurality of objects, means to cause optical images of the position detecting marks from the respective objects to reach a scanning mechanism, the scanning mechanism scanning the optical images at the same time, a plurality of detectors, each of which consists of a slit and a photoelectric element, the slits being arranged on an identical optical axis so that the optical images of the position detecting marks of the respective objects as scanned by the scanning mechanism may be detected respectively and individually, and a driving device which moves one of the plurality of objects on the basis of signals from the detectors, to effect the relative positioning of the plurality of objects.

Abstract: An electronic switching system for the control of a load, such as a motor serving to adjust the diaphragm of a motion-picture camera, comprises a normally inactive comparison circuit including a transistor bridge with a pair of NPN transistors in one pair of adjoining arms and a pair of PNP transistors in the other pair. Two complementary transistors in each half of the bridge, lying between diagonally opposite corners, are provided with a common biasing circuit shunted across that bridge diagonal, the load being connected across the other bridge diagonal. Each biasing circuit includes a resistive voltage divider with taps joined to the bases of the associated bridge transistors and a group of cascaded ancillary transistors connected across a section of the voltage divider containing one of these taps. The first ancillary transistor of each cascaded group has its base connected to an associated input terminal receiving a switching signal and a reference voltage, respectively.

Abstract: A device for the accurate positioning of an object holder in relation to the elements of a particle-type optical system, for example an electron-optical system, comprises for each direction of displacement a comparator which compares the position required by a computer, with the number recorded by a counter counting the fringes in an interferometer. The comparator is connected to a three-output logic circuit which can adopt each of two logic levels. The states of the outputs represent the direction of displacement to be produced, and its amplitude. A stepping motor receives the pulses from a clock which adopts two preset frequencies that are controlled by said three outputs.