公开(公告)号：US06854410B1

公开(公告)日：2005-02-15

申请号：US10719854

申请日：2003-11-24

申请人： Russell King ,  Brian Coppola ,  Don Tibbetts ,  Chris Richburg ,  Chris Cook ,  Don Hobden ,  Mike Conn ,  Spencer Harris ,  Wells Parker ,  Brooke Parker ,  David Emery ,  Sally Lankamer

发明人： Russell King ,  Brian Coppola ,  Don Tibbetts ,  Chris Richburg ,  Chris Cook ,  Don Hobden ,  Mike Conn ,  Spencer Harris ,  Wells Parker ,  Brooke Parker ,  David Emery ,  Sally Lankamer

IPC分类号： B63C11/42 ,  B63G8/00 ,  B63B21/66

CPC分类号： B63G8/001 ,  B63C11/48 ,  B63G7/02 ,  B63G2008/007 ,  B63G2008/008 ,  G01S7/521 ,  G01S15/025 ,  G01S15/88

摘要： An unmanned system for investigating underwater regions utilizes an unmanned mothership and a plurality of unmanned underwater vehicles (UUVs). The mothership transports the UUVs to and from the vicinity of an underwater region, releases the UUVs into the water, and facilitates recovery of the UUVs from the water. Each UUV can traverse an underwater region, generate sonar and image data associated with the underwater region, and transmit the sonar and image data through the water for receipt and re-transmission by the mothership. A docking system mounted partially onboard the mothership and partially onboard each UUV couples each UUV to the mothership and selectively releases each UUV into the underwater region. A guidance system mounted partially onboard the mothership and partially onboard each UUV guides each UUV back to the docking system from positions in the water. The mothership and UUVs can also be equipped with a non-contact electrical energy transfer system so that each UUV can return to the mothership and re-charge onboard batteries while underwater.

摘要翻译： 一个无人驾驶的水下地区系统采用无人驾驶的母舰和多台无人驾驶的水下飞机（UUV）。 母舰将UUV运送到水下区域附近，将UUVs释放到水中，并有助于从水中回收UUV。 每个UUV可以穿过水下区域，产生与水下区域相关联的声纳和图像数据，并通过水传输声纳和图像数据，以供母船接收和重新传输。 对接系统部分地安装在母舰上并部分地安装在每个UUV上，每个UUV将每个UUV耦合到母舰并且将每个UUV选择性地释放到水下区域中。 引导系统部分安装在母舰上并部分安装在每个UUV上，每个UUV将每个UUV从水中的位置引导到对接系统。 母舰和UUV也可以配备非接触式电能转移系统，以便每个UUV可以返回母舰，并在水下重新充电船上电池。

公开(公告)号：US07004039B1

公开(公告)日：2006-02-28

申请号：US10779586

申请日：2004-02-17

申请人： Kenneth Ford ,  Jeffery Pray ,  Chris Richburg ,  Charles Bernstein

发明人： Kenneth Ford ,  Jeffery Pray ,  Chris Richburg ,  Charles Bernstein

IPC分类号： G01L1/02 ,  G01L5/08 ,  G01L7/00

CPC分类号： G01L13/025 ,  G01L1/02

摘要： A tactile sensor comprises a sensing bladder in pneumatic communication with a first diaphragm side of a pneumatic diaphragm via a first fluid; the pneumatic diaphragm being actuatable by a displacement of the first fluid within the sensing bladder; the pneumatic diaphragm further comprising a second diaphragm side in fluid isolation from the first diaphragm side; the second diaphragm side being pneumatically biased against the first diaphragm side, and the second diaphragm side and the first diaphragm side of the pneumatic diaphragm each being in pneumatic communication with an external environment.

摘要翻译： 触觉传感器包括经由第一流体与气动膜片的第一膜片侧气动连通的感测囊; 所述气动隔膜可通过所述传感气囊内的所述第一流体的位移而致动; 气动隔膜还包括与第一隔膜侧流体隔离的第二隔膜侧; 第二隔膜侧被气动偏压抵靠第一隔膜侧，气动隔膜的第二隔膜侧和第一隔膜侧均与外部环境气动连通。

公开(公告)号：US07039506B1

公开(公告)日：2006-05-02

申请号：US10608118

申请日：2003-06-26

申请人： Chris Richburg ,  Donald D. Hobden

发明人： Chris Richburg ,  Donald D. Hobden

IPC分类号： G01C22/00 ,  G05D1/00 ,  F21V29/00

CPC分类号： G01S1/70 ,  B63B49/00 ,  G01C21/00

摘要： A light system for defining a line of approach uses light sources arranged in an array. The light sources are arranged such that they define a primary field-of-view (FOV) from which all of the light sources are visible. Less than all of the light sources are visible from positions outside of the primary FOV. The light sources are further divided into sections with each section having a portion of the light sources associated therewith. The light sources are controlled in accordance with cyclical on/off sequences. A primary waveform of light energy is defined by the cyclical on/off sequence visible from within the primary FOV. A plurality of secondary waveforms of light energy are defined by the cyclical on/off sequences visible from positions outside of the primary FOV.

摘要翻译： 用于定义方法线的光系统使用以阵列布置的光源。 光源被布置成使得它们限定了主视场（FOV），所有光源都从该视场可见。 少于所有的光源都可以从主FOV以外的位置看到。 光源被进一步分成两部分，每个部分具有与其相关联的一部分光源。 光源根据循环开/关顺序进行控制。 光能的主要波形由在主FOV内可见的循环开/关序列定义。 光能的多个次级波形由从主FOV外部的位置可见的周期性开/关序列定义。

公开(公告)号：US20120291873A1

公开(公告)日：2012-11-22

申请号：US13068717

申请日：2011-05-18

申请人： Steven Potter ,  Chris Richburg

发明人： Steven Potter ,  Chris Richburg

IPC分类号： F16K7/00

CPC分类号： F15B11/028 ,  F15B13/0402 ,  F15B2211/20592 ,  F15B2211/212 ,  F15B2211/30505 ,  F15B2211/3138 ,  F15B2211/413 ,  F15B2211/41518 ,  F15B2211/455 ,  F15B2211/511 ,  F15B2211/5151 ,  F15B2211/5152 ,  F15B2211/6313 ,  F15B2211/665 ,  F15B2211/6653 ,  F15B2211/6658 ,  F15B2211/7053 ,  F15B2211/761 ,  Y10T137/0379 ,  Y10T137/877

摘要： A hydraulic circuit and method includes a valve subsystem between a high pressure source, a medium pressure source, a low pressure return, and an actuator. The valve subsystem is configured and controllable to drive the actuator using the high pressure hydraulic fluid or the medium pressure hydraulic fluid and also to direct low pressure hydraulic fluid exiting the actuator to the low pressure return. A controller is responsive to high pressure criteria and medium pressure criteria associated with the actuator and is configured to operate the valve subsystem to present high pressure hydraulic fluid to the actuator in response to high pressure criteria and to present medium pressure hydraulic fluid to the actuator in response to medium pressure criteria.

摘要翻译： 液压回路和方法包括在高压源，中压源，低压返回和致动器之间的阀子系统。 阀子系统被构造和可控制，以使用高压液压流体或中压液压流体驱动致动器，并且还将离开致动器的低压液压流体引导到低压返回。 控制器响应于与致动器相关联的高压标准和中压标准，并且被配置为操作阀子系统以响应于高压准则向致动器呈现高压液压流体，并将中压液压流体呈现给致动器 响应中等压力标准。

公开(公告)号：US07010401B1

公开(公告)日：2006-03-07

申请号：US10609902

申请日：2003-06-26

申请人： Chris Richburg ,  Donald D. Hobden

发明人： Chris Richburg ,  Donald D. Hobden

IPC分类号： G01C22/00

CPC分类号： G05D1/0225 ,  G05D1/0234 ,  G05D1/0692

摘要： A system provides guidance to a vehicle on an approach to a position. A guidance transmitter stationed at the position includes light sources arranged in an array and a controller coupled to the light sources. The array defines a primary field-of-view (FOV) from which all light sources are visible. The light sources are divided into a plurality of sections with each section having a portion of the light sources associated therewith. Operation of each section of light sources is governed by the controller in accordance with unique cyclical on/off sequences. A primary waveform of light energy is defined by a composite of the cyclical on/off sequences visible from within the primary FOV. A plurality of secondary waveforms of light energy are defined by the cyclical on/off sequences visible from positions outside of the primary FOV. A guidance receiver mounted on a vehicle traveling towards the position of the guidance transmitter includes (i) sensor(s) for sensing light energy generated by those light sources visible thereto, (ii) a database for storing calibration waveforms indicative of corresponding guidance correction signals, and (iii) a processor for determining which one of the calibration waveforms matches or is closest to the sensed one of the primary waveform and secondary waveforms. The guidance correction signal associated with the matching calibration waveform can be used to control navigation of the vehicle.

摘要翻译： 一种系统在对某个位置的方法上提供对车辆的指导。 位于该位置的引导发射器包括布置在阵列中的光源和耦合到光源的控制器。 阵列定义了主视野（FOV），所有光源都可以从该视场可见。 光源被分成多个部分，每个部分具有与其相关联的一部分光源。 光源的每个部分的操作由控制器根据独特的周期性开/关顺序控制。 光能的主要波形通过从主FOV内可见的循环开/关序列的复合来定义。 光能的多个次级波形由从主FOV外部的位置可见的周期性开/关序列定义。 安装在朝向导向发射器的位置行进的车辆上的引导接收器包括（i）用于感测由其可见的那些光源产生的光能的传感器，（ii）用于存储指示对应的引导校正信号的校准波形的数据库 ，以及（iii）用于确定哪一个校准波形与主波形和次波形中的一个波形匹配或最接近的处理器。 与匹配的校准波形相关联的引导校正信号可用于控制车辆的导航。

公开(公告)号：US06957132B1

公开(公告)日：2005-10-18

申请号：US10609901

申请日：2003-06-26

申请人： Chris Richburg ,  Donald D. Hobden

发明人： Chris Richburg ,  Donald D. Hobden

IPC分类号： F21S8/00 ,  F21V29/00 ,  G01C22/00 ,  G05D1/00 ,  G05D1/02

CPC分类号： G05D1/0225 ,  F21W2111/00 ,  F21Y2115/10 ,  G05D1/0234 ,  G05D1/0692

摘要： A method of guiding a vehicle to a position is provided. Light sources arranged in an array are placed at a position with the light sources defining a primary field-of-view (FOV) from which all of the light sources are visible. Less than all of the light sources are visible from positions outside of the primary FOV. The light sources are divided into sections with each section having a portion of the light sources associated therewith. The light sources are operated in accordance with cyclical on/off sequences so that a primary waveform of light energy is defined by the cyclical on/off sequence visible from within the primary FOV and secondary waveforms of light energy are defined by the cyclical on/off sequences visible from positions outside of the primary FOV. The light energy generated by the light sources is sensed by an approaching navigable vehicle. Based on the position of the vehicle, one of the primary waveform and the plurality of secondary waveforms is sensed. A database on the vehicle stores calibration waveforms indicative of guidance correction signals that can be used to control navigation of the vehicle. The calibration waveform that is closest to the primary and secondary waveforms so-sensed is indicative of the guidance correction signal.

摘要翻译： 提供了将车辆引导到位置的方法。 放置在阵列中的光源被放置在光源限定主视场（FOV）的位置，所有的光源都从该视野可见。 少于所有的光源都可以从主FOV以外的位置看到。 光源被分成多个部分，每个部分具有与其相关联的一部分光源。 光源根据周期性开/关顺序操作，使得光能的主波形由在主FOV内可见的循环开/关顺序定义，并且光能的次级波形由周期性开/关定义 从主FOV外部位置可见的序列。 由光源产生的光能由靠近的导航车辆感测。 基于车辆的位置，检测主波形和多个次波形中的一个。 车辆上的数据库存储指示可用于控制车辆导航的引导校正信号的校准波形。 最靠近所检测到的主要和次要波形的校准波形指示引导校正信号。