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公开(公告)号：US10144464B1
公开(公告)日：2018-12-04
申请号：US14794666
申请日：2015-07-08
发明人： Stephen Buerger , Clinton G. Hobart , Curt M. Salisbury , Steven J. Spencer , Anirban Mazumdar , Michael Kuehl , Kevin J. Dullea
IPC分类号： B62D57/032 , F16H9/02 , B25J17/02 , F16H9/10 , F16H9/06 , F16H9/04 , F16H9/12 , B25J9/10 , F16H7/02 , F16H7/10
摘要： A locomotion subassembly for a biped robot is disclosed. The locomotion subassembly includes several unique energy transfer mechanisms and arrangements for efficiently powering the motion of the robot.
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公开(公告)号：US11334069B1
公开(公告)日：2022-05-17
申请号：US15446772
申请日：2017-03-01
发明人： Stephen Buerger , Joshua Alan Love
IPC分类号： G05D1/00 , H04L41/046 , G05B15/02
摘要： Systems, methods and unmanned agents for collaboratively controlling agents in a collaborative network by one or more agents continuously simulating numeric models of one or more other agents in the network to dramatically reduce the computational bandwidth required between agents, and improve the quality of shared estimates of the agent locations as well as the locations and characteristics of other objects of interest, e.g. targets. Bandwidth is reduced by using the models to intelligently filter data before communicating.
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公开(公告)号：US10900343B1
公开(公告)日：2021-01-26
申请号：US15880109
申请日：2018-01-25
发明人： Stephen Buerger , Anirban Mazumdar , Steven James Spencer , Timothy James Blada , Jiann-Cherng Su , Elton K. Wright , Adam Foris , David W. Raymond
摘要： A system or method for drilling includes autonomously controlling a rotary or percussive drilling process as it transitions through multiple materials with very different dynamics. The method determines a drilling medium based on real-time measurements and comparison to prior drilling data, and identifies the material type, drilling region, and approximately optimal setpoint based on data from at least one operating condition. The controller uses these setpoints initially to execute an optimal search to maximize performance by minimizing mechanical specific energy.
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公开(公告)号：US11753922B1
公开(公告)日：2023-09-12
申请号：US17698213
申请日：2022-03-18
发明人： Stephen Buerger , Anirban Mazumdar , Steven James Spencer , Timothy James Blada , Jiann-Cherng Su , Elton K. Wright , Adam Foris , David W. Raymond
CPC分类号： E21B44/08 , E21B1/38 , E21B49/003 , E21B2200/22
摘要： A system or method for drilling includes autonomously controlling a rotary or percussive drilling process as it transitions through multiple materials with very different dynamics. The method determines a drilling medium based on real-time measurements and comparison to prior drilling data, and identifies the material type, drilling region, and approximately optimal setpoint based on data from at least one operating condition. The controller uses these setpoints initially to execute an optimal search to maximize performance by minimizing mechanical specific energy. Near-bit depth-of-cut estimations are performed using a machine learning prediction deployed in an embedded processor to provide high-speed ROP estimates. The sensing capability is coupled with a near-bit clutching mechanism to support drilling dysfunction mitigation.
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5.发明授权公开(公告)号：US10407998B1
公开(公告)日：2019-09-10
申请号：US15267839
申请日：2016-09-16
发明人： David W. Raymond , Stephen Buerger , Avery Ted Cashion, IV , Mikhail Mesh , William T. Radigan , Jiann-Cherng Su , Elton K. Wright
摘要： A suppression module, a suppression assembly, and a drilling tool are disclosed. The suppression module includes a spindle having a first end and a second end, an ear plate slideably disposed between the first end and the second end, a spring positioned between the ear plate and the first end, and an activation mechanism coaxially disposed around the second end of the spindle. The activation mechanism engages the ear plate, activating the spring, or disengages the ear plate, deactivating the spring. The suppression assembly includes at least two suppression modules in series coupled to a processor. The suppression modules are activated or deactivated by the processor, each of the suppression modules being activated or deactivated independent of the other suppression modules. The drilling tool includes a drill pipe, a drill bit, a vibration sensor, and a suppression assembly between the drill pipe and the drill bit.
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公开(公告)号：US11566497B2
公开(公告)日：2023-01-31
申请号：US17412397
申请日：2021-08-26
发明人： Jiann-Cherng Su , Stephen Buerger , Anirban Mazumdar , Adam Foris
摘要： A modular anti-rotation device for preventing rotation with respect to the central axis of a drilling tool in a borehole and for producing a notch in a borehole surface. The anti-rotation device includes an upper fixture portion and a lower fixture portion in axial alignment. The upper fixture portion and the lower fixture portion are connected by yoke assemblies. Each yoke assembly is connected to the fixture portion and fixture portion at one end, and forming an articulated joint of the upper yoke assembly and the lower yoke assembly at a distal end opposite the first end. A roller is connected at each joint, connecting the upper and lower yoke assemblies. The rollers engage vertically with a borehole surface, the rollers travelling axially, as a drill shaft penetrates into the borehole, the rollers simultaneously preventing radial movement of the anti-rotation device and prevent rotation with respect to the central axis of the borehole.
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公开(公告)号：US11280173B1
公开(公告)日：2022-03-22
申请号：US17157614
申请日：2021-01-25
发明人： Stephen Buerger , Anirban Mazumdar , Steven James Spencer , Timothy James Blada , Jiann-Cherng Su , Elton K. Wright , Adam Foris , David W. Raymond
摘要： A system or method for drilling includes autonomously controlling a rotary or percussive drilling process as it transitions through multiple materials with very different dynamics. The method determines a drilling medium based on real-time measurements and comparison to prior drilling data, and identifies the material type, drilling region, and approximately optimal setpoint based on data from at least one operating condition. The controller uses these setpoints initially to execute an optimal search to maximize performance by minimizing mechanical specific energy. Near-bit depth-of-cut estimations are performed using a machine learning prediction deployed in an embedded processor to provide high-speed ROP estimates. The sensing capability is coupled with a near-bit clutching mechanism to support drilling dysfunction mitigation.
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公开(公告)号：US20210388697A1
公开(公告)日：2021-12-16
申请号：US17412397
申请日：2021-08-26
发明人： Jiann-Cherng Su , Stephen Buerger , Anirban Mazumdar , Adam Foris
摘要： A modular anti-rotation device for preventing rotation with respect to the central axis of a drilling tool in a borehole and for producing a notch in a borehole surface. The anti-rotation device includes an upper fixture portion and a lower fixture portion in axial alignment. The upper fixture portion and the lower fixture portion are connected by yoke assemblies. Each yoke assembly is connected to the fixture portion and fixture portion at one end, and forming an articulated joint of the upper yoke assembly and the lower yoke assembly at a distal end opposite the first end. A roller is connected at each joint, connecting the upper and lower yoke assemblies. The rollers engage vertically with a borehole surface, the rollers travelling axially, as a drill shaft penetrates into the borehole, the rollers simultaneously preventing radial movement of the anti-rotation device and prevent rotation with respect to the central axis of the borehole.
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公开(公告)号：US11131167B1
公开(公告)日：2021-09-28
申请号：US15809639
申请日：2017-11-10
发明人： Jiann-Cherng Su , Stephen Buerger , Anirban Mazumdar , Adam Foris
摘要： Drilling tools are frequently subject to rotation with respect to the central drilling axis caused by torque. A mechanical linkage can be configured to apply force that is proportional to the weight-on-bit on the borehole surface while transmitting axial loads used to generate weight-on-bit. The device can be used to manage drill string twist that could lead to drilling dysfunctions.
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公开(公告)号：US10168674B1
公开(公告)日：2019-01-01
申请号：US14258986
申请日：2014-04-22
摘要： A control architecture and associated control methods are under development to allow a single user to control a team of multiple heterogeneous UMS as they conduct multi-faceted (i.e. multi-objective) missions in real time is disclosed. The control architecture is hierarchical, modular and layered and enables operator interaction at each layer, ensuring the human operator is in close control of the unmanned team at all times. The architecture and key data structures are introduced. Two approaches to distributed collaborative control of heterogeneous unmanned systems are described, including an extension of homogeneous swarm control and a novel application of distributed model predictive control. Initial results are presented, demonstrating heterogeneous UMS teams conducting collaborative missions.
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