公开(公告)号：US4937759A

公开(公告)日：1990-06-26

申请号：US207311

申请日：1988-06-15

申请人： Havard I. Vold

发明人： Havard I. Vold

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/4061 ,  G05B19/414

CPC分类号： B25J9/1602 ,  B25J9/1643 ,  G05B19/4061 ,  G05B19/4141 ,  G05B2219/33172 ,  G05B2219/40333 ,  G05B2219/40362

摘要： A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.

摘要翻译： 控制器从存储器中检索由端部执行器的位置和取向组成的一系列离散的末端执行器位置。 以提供平滑末端执行器运动的方式实时地计算对应于沿着路径的中间点的接合角度值，避免了奇点的问题并有效地适应运动学冗余。 特别地，通过围绕两个连续的末端执行器取向的特征向量旋转末端执行器来平滑地实现连续目标点之间的末端执行器重新定向。

公开(公告)号：US20090204355A1

公开(公告)日：2009-08-13

申请号：US12306252

申请日：2006-06-27

申请人： Havard I. Vold

发明人： Havard I. Vold

IPC分类号： G06F19/00

CPC分类号： G01M7/025

摘要： In accordance with one embodiment of the present invention, a system for extracting modal parameters of a structure includes an analysis module configured to estimate the modal parameters by computing only a subset of the autospectral matrix of the input data and then solving for the adjoint solution to extract a matrix denominator polynomial. In accordance with another aspect of the invention, orthogonal polynomials are used for the instrumental variables to estimate the matrix polynomial from which the modal parameters are extracted.

摘要翻译： 根据本发明的一个实施例，用于提取结构的模态参数的系统包括分析模块，其被配置为通过仅计算输入数据的自动光谱矩阵的子集来估计模态参数，然后求解伴随解 提取矩阵分母多项式。 根据本发明的另一方面，正交多项式用于仪器变量以估计提取模态参数的矩阵多项式。

公开(公告)号：US08843342B2

公开(公告)日：2014-09-23

申请号：US12982297

申请日：2010-12-30

申请人： Havard I. Vold ,  Paul G. Bremner ,  Parthiv N. Shah

发明人： Havard I. Vold ,  Paul G. Bremner ,  Parthiv N. Shah

IPC分类号： G03H3/00 ,  G03H1/08

CPC分类号： G03H3/00 ,  G03H1/08 ,  G03H1/0866 ,  G03H2227/03

摘要： A continuous scanning method employs one or more moveable sensors and one or more reference sensors deployed in the environment around a test subject. Each sensor is configured to sense an attribute of the test subject (e.g., sound energy, infrared energy, etc.) while continuously moving along a path and recording the sensed attribute, the position, and the orientation of each of the moveable sensors and each of the reference sensors. The system then constructs a set of transfer functions corresponding to points in space between the moveable sensors, wherein each of the transfer functions relates the test data of the moveable sensors to the test data of the reference sensors. In this way, a graphical representation of the attribute in the vicinity of test subject can be produced.

摘要翻译： 连续扫描方法采用一个或多个可移动传感器和在测试对象周围环境中部署的一个或多个参考传感器。 每个传感器被配置为在沿着路径连续移动并记录每个可移动传感器和每个可移动传感器的感测属性，位置和方向的同时感测测试对象的属性（例如，声能，红外能量等） 的参考传感器。 然后，系统构建对应于可移动传感器之间的空间点的一组传递函数，其中每个传递函数将可移动传感器的测试数据与参考传感器的测试数据相关联。 以这种方式，可以产生测试对象附近的属性的图形表示。

公开(公告)号：US20110293171A1

公开(公告)日：2011-12-01

申请号：US12982297

申请日：2010-12-30

申请人： Havard I. Vold ,  Paul G. Bremner ,  Parthiv N. Shah

发明人： Havard I. Vold ,  Paul G. Bremner ,  Parthiv N. Shah

IPC分类号： G06K9/00 ,  G03H1/08 ,  G03H3/00

CPC分类号： G03H3/00 ,  G03H1/08 ,  G03H1/0866 ,  G03H2227/03

摘要： A continuous scanning method employs one or more moveable sensors and one or more reference sensors deployed in the environment around a test subject. Each sensor is configured to sense an attribute of the test subject (e.g., sound energy, infrared energy, etc.) while continuously moving along a path and recording the sensed attribute, the position, and the orientation of each of the moveable sensors and each of the reference sensors. The system then constructs a set of transfer functions corresponding to points in space between the moveable sensors, wherein each of the transfer functions relates the test data of the moveable sensors to the test data of the reference sensors. In this way, a graphical representation of the attribute in the vicinity of test subject can be produced.

摘要翻译： 连续扫描方法采用一个或多个可移动传感器和在测试对象周围环境中部署的一个或多个参考传感器。 每个传感器被配置为在沿着路径连续移动并记录每个可移动传感器和每个可移动传感器的感测属性，位置和方向的同时感测测试对象的属性（例如，声能，红外能量等） 的参考传感器。 然后，系统构建对应于可移动传感器之间的空间点的一组传递函数，其中每个传递函数将可移动传感器的测试数据与参考传感器的测试数据相关联。 以这种方式，可以产生测试对象附近的属性的图形表示。