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    Refresh control for dynamic memory in multiple processor system
    7.
    发明授权
    Refresh control for dynamic memory in multiple processor system 失效
    刷新多处理器系统中动态内存的控制

    公开(公告)号：US5146589A

    公开(公告)日：1992-09-08

    申请号：US629698

    申请日：1990-12-17

    申请人： Charles E. Peet, Jr. ,  John D. Allison ,  Kenneth C. Debacker ,  Robert W. Horst

    发明人： Charles E. Peet, Jr. ,  John D. Allison ,  Kenneth C. Debacker ,  Robert W. Horst

    IPC分类号： G06F11/16 ,  G06F11/00 ,  G06F11/10 ,  G06F11/14 ,  G06F11/18 ,  G06F11/20 ,  G06F12/02 ,  G06F15/16 ,  G06F15/17 ,  G11C29/00

    CPC分类号： G06F9/3863 ,  G06F11/0724 ,  G06F11/1641 ,  G06F11/1658 ,  G06F11/1666 ,  G06F11/1683 ,  G06F11/1687 ,  G06F11/1691 ,  G06F11/18 ,  G06F11/184 ,  G06F11/185 ,  G06F11/2017 ,  G06F9/3824 ,  G06F9/3851 ,  G06F9/3885 ,  G06F11/0757 ,  G06F11/1008 ,  G06F11/1405 ,  G06F11/1415 ,  G06F11/1679 ,  G06F11/181 ,  G06F11/182 ,  G06F11/20 ,  G06F11/2015 ,  G06F2201/85 ,  G11C29/74

    摘要： A computer system in a fault-tolerant configuration employs three identical CPUs executing the same instruction stream, with two identical, self-checking memory modules storing duplicates of the same data. Memory references by the three CPUs are made by three separate busses connected to three separate ports of each of the two memory modules. The three CPUs are loosely synchronized, as by detecting events such as memory references and stalling any CPU ahead of others until all execute the function simultaneously; interrupts can be synchronized by ensuring that all three CPUs implement the interrupt at the same point in their instruction stream. Memory references via the separate CPU-to-memory busses are voted at the three separate ports of each of the memory modules. Each CPU has a local memory, separate from the memory modules, and this local memory is of the dynamic type so it must be periodically refreshed. The refresh cycles are interposed at the same point in the instruction stream for each of the three CPUs by counting instruction execution cycles separately in each CPU, and interrupting to do a refresh cycle when a given count is reached. Stall cycles are also counted, and when long periods of stalls occur then more than one refresh cycle is interposed to catch up to the needed refresh schedule.

    摘要翻译： 容错配置的计算机系统使用三个相同的执行相同指令流的CPU，其中两个相同的自检存储器模块存储相同数据的重复。 三个CPU的存储器引用由连接到两个存储器模块中的每一个的三个单独端口的三个单独的总线进行。 三个CPU松动地同步，如通过检测诸如内存引用的事件，并阻止其他CPU之前的事件，直到所有执行功能同时执行; 可以通过确保所有三个CPU在其指令流中的相同点实现中断来实现中断。 通过单独的CPU到内存总线的内存引用在每个内存模块的三个独立端口上进行投票。 每个CPU都有一个与内存模块分开的本地内存，而这个本地内存是动态类型的，所以它必须定期刷新。 通过在每个CPU中单独计算指令执行周期，在三个CPU中的每一个的指令流中的同一点插入刷新周期，并且当达到给定计数时中断执行刷新周期。 也会计算停顿周期，当发生长时间的停顿时，会插入多个刷新周期以赶上所需的刷新时间表。

    Actuator system with a multi-motor assembly for extending and flexing a joint
    8.
    发明授权
    Actuator system with a multi-motor assembly for extending and flexing a joint 有权
    具有多马达组件的执行器系统，用于延伸和弯曲接头

    公开(公告)号：US08058823B2

    公开(公告)日：2011-11-15

    申请号：US12191837

    申请日：2008-08-14

    申请人： Robert W. Horst ,  Kern Bhugra ,  Robert L. Jardine

    发明人： Robert W. Horst ,  Kern Bhugra ,  Robert L. Jardine

    IPC分类号： H02P5/00

    CPC分类号： A61H1/0237 ,  A61H1/024 ,  A61H1/0266 ,  A61H1/0274 ,  A61H1/0277 ,  A61H1/0281 ,  A61H2201/1215 ,  A61H2201/1445 ,  A61H2201/1463 ,  A61H2201/149 ,  A61H2201/5061 ,  A61H2201/5064 ,  F16H25/20 ,  F16H2025/2081

    摘要： An actuator system for extending and flexing a joint, including a multi-motor assembly for providing a rotational output, a rotary-to-linear mechanism for converting the rotational output from the multi-motor assembly into an extension and flexion of the joint, and a controller for operating the actuator system in several operational modes. The multi-motor assembly preferably combines power from two different sources, such that the multi-motor assembly can supply larger forces at slower speeds (“Low Gear”) and smaller forces at higher speeds (“High Gear”). The actuator has been specifically designed for extending and flexing a joint (such as an ankle, a knee, an elbow, or a shoulder) of a human. The actuator system may, however, be used to move any suitable object through any suitable movement (linear, rotational, or otherwise).

    摘要翻译： 一种用于延伸和弯曲接头的致动器系统，包括用于提供旋转输出的多电机组件，用于将来自多电动机组件的旋转输出转换成接头的伸展和弯曲的旋转到线性机构，以及 用于以多种操作模式操作致动器系统的控制器。 多电动机组件优选地组合来自两个不同源的动力，使得多电动机组件可以以较低速度（“低齿轮”）和较高速度（“高齿轮”）下的较小力提供较大的力。 致动器专门设计用于伸展和弯曲人体的关节（例如脚踝，膝盖，肘部或肩部）。 然而，致动器系统可以用于通过任何合适的运动（线性，旋转或其他方式）移动任何合适的物体。

    HIGH-TORQUE MOTOR
    9.
    发明申请
    HIGH-TORQUE MOTOR 审中-公开
    高扭矩电机

    公开(公告)号：US20080203841A1

    公开(公告)日：2008-08-28

    申请号：US12047148

    申请日：2008-03-12

    申请人： Robert W. Horst ,  Richard R. Marcus

    发明人： Robert W. Horst ,  Richard R. Marcus

    IPC分类号： H02K7/10

    CPC分类号： H02K99/20

    摘要： A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.

    摘要翻译： 一种向移动元件提供高力直线运动或高扭矩旋转运动的电机。 马达可以包括驱动制动器，驱动器，保持制动器和柔性移动元件。 电动机的操作可以包括启动保持制动器，启动驾驶员以弯曲移动元件，启动保持制动器以保持移动元件的一部分的位置，释放驱动制动器，并将移动元件恢复到未弯曲的位置 。 这些元件被布置成使用以线性或圆形方式布置的制动器和驱动器提供线性运动，皮带驱动的旋转运动或直接耦合的旋转运动。 驱动器可以是基于静电，压电，磁性或电致伸缩特性的线性或旋转致动器或电动机。 制动器可以通过与线性或旋转驱动机构接合的静电力，磁力或机械齿轮施加。

    Electrostatic actuator with fault tolerant electrode structure
    10.
    发明授权
    Electrostatic actuator with fault tolerant electrode structure 失效
    具有容错电极结构的静电致动器

    公开(公告)号：US07239065B2

    公开(公告)日：2007-07-03

    申请号：US10874986

    申请日：2004-06-22

    申请人： Robert W. Horst

    发明人： Robert W. Horst

    IPC分类号： H02N1/00

    CPC分类号： H02N1/004

    摘要： A high-power electrostatic actuator comprising rotor and stator layers with fault-tolerant electrode structures, a housing to contain the electrodes and dielectric fluid, and electronic circuitry driving a plurality of high-voltage phases. The actuator is constructed from multiple rotor and stator films separated by spacing elements. The electrode structure provides self-alignment for precise assembly. The actuator assembly includes built-in fine-position sensors to allow optimal timing in powering phases, and a coarse position sensor for feedback control. The electrode structure has a large region of linear force to provide low torque-ripple allowing simple high/low voltage pulsing instead of analog high voltage waveforms. Single or double sided flexible circuit manufacturing techniques are used to fabricate the rotor and stator films at low cost.

    摘要翻译： 包括具有容错电极结构的转子和定子层的高功率静电致动器，容纳电极和电介质流体的外壳以及驱动多个高压相的电子电路。 致动器由多个由间隔元件分隔的转子和定子膜构成。 电极结构提供自对准以进行精确的组装。 致动器组件包括内置的精细位置传感器，以允许在供电阶段的最佳定时，以及用于反馈控制的粗略位置传感器。 电极结构具有大的线性力区域，以提供低转矩脉动，允许简单的高/低电压脉冲而不是模拟高电压波形。 单或双面柔性电路制造技术用于以低成本制造转子和定子膜。