公开(公告)号：US07362889B2

公开(公告)日：2008-04-22

申请号：US10291866

申请日：2002-11-08

申请人： Steven Dubowsky ,  Moustapha Hafez ,  Ferenc A. Jolesz ,  Daniel F. Kacher ,  Matthew Lichter ,  Peter Weiss ,  Andreas Wingert

发明人： Steven Dubowsky ,  Moustapha Hafez ,  Ferenc A. Jolesz ,  Daniel F. Kacher ,  Matthew Lichter ,  Peter Weiss ,  Andreas Wingert

IPC分类号： G06K9/00

CPC分类号： G01R33/28

摘要： The present invention is directed to devices and systems used in magnetic imaging environments that include an actuator device having an elastomeric dielectric film with at least two electrodes, and a frame attached to the actuator device. The frame can have a plurality of configurations including, such as, for example, at least two members that can be, but not limited to, curved beams, rods, plates, or parallel beams. These rigid members can be coupled to flexible members such as, for example, links wherein the frame provides an elastic restoring force. The frame preferably provides a linear actuation force characteristic over a displacement range. The linear actuation force characteristic is defined as ±20% and preferably 10% over a displacement range. The actuator further includes a passive element disposed between the flexible members to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. The preferred embodiment actuator includes one or more layers of the elastomeric film integrated into the frame. The elastomeric film can be made of many elastomeric materials such as, for example, but not limited to, acrylic, silicone and latex.

摘要翻译： 本发明涉及在磁性成像环境中使用的装置和系统，其包括具有至少两个电极的弹性介电膜的致动器装置和连接到致动器装置的框架。 该框架可以具有多个构造，包括例如至少两个构件，其可以是但不限于弯曲梁，杆，板或平行梁。 这些刚性构件可以联接到柔性构件，例如其中框架提供弹性恢复力的连杆。 框架优选地在位移范围上提供线性致动力特性。 线性致动力特性在位移范围内被定义为±20％，优选地为10％。 致动器还包括设置在柔性构件之间的无源元件，以调节致动器的刚度特性。 无源元件可以是双稳态元件。 优选实施例致动器包括集成到框架中的一层或多层弹性体膜。 弹性体膜可以由许多弹性体材料制成，例如但不限于丙烯酸，硅树脂和胶乳。

公开(公告)号：US07411331B2

公开(公告)日：2008-08-12

申请号：US10291217

申请日：2002-11-08

申请人： Steven Dubowsky ,  Moustapha Hafez ,  Matthew Lichter ,  Peter Weiss ,  Andreas Wingert

发明人： Steven Dubowsky ,  Moustapha Hafez ,  Matthew Lichter ,  Peter Weiss ,  Andreas Wingert

IPC分类号： H02N1/00

CPC分类号： H01L41/0986 ,  G01R33/28 ,  H01L41/0536 ,  H02N1/006 ,  H02N2/0095

摘要： The system of the present invention includes an actuator having at least two electrodes, an elastomeric dielectric film disposed between the two electrodes, and a frame attached to the elastomeric dielectric film. The frame provides a linear actuation force characteristic over a displacement range. The displacement range is preferably the stroke of the actuator. The displacement range can be about 5 mm and greater. Further, the frame can include a plurality of configurations, for example, at least a rigid members coupled to a flexible member wherein the frame provides an elastic restoring force. In preferred embodiments, the rigid member can be, but is not limited to, curved beams, parallel beams, rods and plates.In a preferred embodiment the actuator can further include a passive element disposed between two flexible members such as, for example, links to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. Further, the actuator can include a plurality of layers of the elastomeric dielectric film integrated into the frame. The elastomeric film can be made of different materials such as, for example, acrylic, silicone and latex.

摘要翻译： 本发明的系统包括具有至少两个电极的致动器，设置在两个电极之间的弹性介电膜，以及连接到弹性体电介质膜的框架。 该框架在位移范围内提供线性致动力特性。 位移范围优选为致动器的行程。 位移范围可以是大约5毫米以上。 此外，框架可以包括多个构造，例如至少一个联接到柔性构件的刚性构件，其中框架提供弹性恢复力。 在优选实施例中，刚性构件可以是但不限于弯曲梁，平行梁，杆和板。 在优选实施例中，致动器还可包括设置在两个柔性构件之间的无源元件，例如用于调节致动器的刚度特性的连杆。 无源元件可以是双稳态元件。 此外，致动器可以包括集成到框架中的弹性体电介质膜的多个层。 弹性膜可以由不同的材料制成，例如丙烯酸，硅树脂和胶乳。

公开(公告)号：US20120019941A1

公开(公告)日：2012-01-26

申请号：US12839479

申请日：2010-07-20

申请人： Steven Dubowsky ,  Amy M. Bilton ,  Seung J. Lee

发明人： Steven Dubowsky ,  Amy M. Bilton ,  Seung J. Lee

IPC分类号： G02B7/185

CPC分类号： G02B26/0825 ,  F24S2023/83 ,  F24S2023/874 ,  G02B7/183

摘要： System for establishing a surface shape. The system includes a compliant substrate including the surface and having a reverse side, and a plurality of discrete actuators engaging the reverse side and arranged in a selected pattern to control the surface shape as individual discrete activators are activated. It is preferred that the actuators have multiple discrete stable states of elongation. A particularly preferred embodiment uses actuators that are binary with two stable states of elongation.

摘要翻译： 用于建立表面形状的系统。 该系统包括包括表面并具有反面的柔性基板，以及接合反面并以选定图案布置的多个离散致动器，以在各个分立激活器被激活时控制表面形状。 优选地，致动器具有多个离散的稳定的伸长状态。 特别优选的实施例使用具有两个稳定的伸长状态的二进制的致动器。

公开(公告)号：US09016877B2

公开(公告)日：2015-04-28

申请号：US12839479

申请日：2010-07-20

申请人： Steven Dubowsky ,  Amy M. Bilton ,  Seung J. Lee

发明人： Steven Dubowsky ,  Amy M. Bilton ,  Seung J. Lee

IPC分类号： G02B5/08 ,  G02B7/182 ,  F24J2/08 ,  G02B26/08 ,  G02B7/183 ,  F24J2/10

CPC分类号： G02B26/0825 ,  F24S2023/83 ,  F24S2023/874 ,  G02B7/183

摘要： System for establishing a surface shape. The system includes a compliant substrate including the surface and having a reverse side, and a plurality of discrete actuators engaging the reverse side and arranged in a selected pattern to control the surface shape as individual discrete activators are activated. It is preferred that the actuators have multiple discrete stable states of elongation. A particularly preferred embodiment uses actuators that are binary with two stable states of elongation.

摘要翻译： 用于建立表面形状的系统。 该系统包括包括表面并具有反面的柔性基板，以及接合反面并以选定图案布置的多个离散致动器，以在各个分立激活器被激活时控制表面形状。 优选地，致动器具有多个离散的稳定的伸长状态。 特别优选的实施例使用具有两个稳定的伸长状态的二进制的致动器。

公开(公告)号：US20120275040A1

公开(公告)日：2012-11-01

申请号：US13095115

申请日：2011-04-27

申请人： Lifang Li ,  Steven Dubowsky ,  Andres George Kecskemethy Daranyi ,  Abul Fazal M Arif

发明人： Lifang Li ,  Steven Dubowsky ,  Andres George Kecskemethy Daranyi ,  Abul Fazal M Arif

IPC分类号： G02B5/10 ,  B32B3/02 ,  B32B3/30 ,  B32B3/00

CPC分类号： G02B5/10 ,  F24S23/745 ,  Y02E10/40 ,  Y10T428/24 ,  Y10T428/24479 ,  Y10T428/24612 ,  Y10T428/24777

摘要： Parabolic Mirror. The mirror includes a flexible material with a reflective surface and a rear surface. A flexible band is in contact with the rear surface of the flexible material. The bending stiffness of the band as a function of distance along its length is selected so that the band and the flexible material in contact therewith assume a parabolic shape when ends of the band are moved toward one another. In a preferred embodiment, the bending stiffness of the band is achieved by controlling the second moment of area of the band along its length. The second moment of area may be adjusted by altering the width of the band along its length or by altering the thickness of the band along its length, or a combination of the two.

摘要翻译： 抛物面镜。 镜子包括具有反射表面和后表面的柔性材料。 柔性带与柔性材料的后表面接触。 选择作为沿其长度的距离的函数的带的弯曲刚度，使得当带的端部朝向彼此移动时，带和与其接触的柔性材料呈现抛物线形状。 在一个优选实施例中，通过控制沿其长度的带的面积的第二时刻来实现带的弯曲刚度。 可以通过沿其长度改变带的宽度或通过沿着其长度改变带的厚度或者两者的组合来调整区域的第二时刻。

公开(公告)号：US06540039B1

公开(公告)日：2003-04-01

申请号：US09631842

申请日：2000-08-03

申请人： Haoyong Yu ,  Steven Dubowsky

发明人： Haoyong Yu ,  Steven Dubowsky

IPC分类号： B60K1730

CPC分类号： B60K7/0007 ,  B60B33/0002 ,  B60B33/0042 ,  B60B33/0049 ,  B60B33/0057 ,  B60B33/0068 ,  B60B33/0073 ,  B60K17/043 ,  B60K17/30 ,  B60K2007/0038 ,  B60K2007/0046 ,  B60K2007/0092 ,  B62D11/20 ,  B62D61/10

摘要： A wheel base or mobile platform providing omnidirectional motion and control. At least two offset wheel assemblies are coupled to a platform that supports a load. Each offset wheel assembly has two wheels that share a common axis and a mechanical link that is pivotally coupled to a pivot point on the rigid platform and supports the two wheels in such a manner that the common axis is displaced from the pivot point. The common axis of the wheels is free to rotate about an axis parallel to the planes of rotation of the wheels. The platform may be turned in any direction specified by a user from any instantaneous configuration or velocity in accordance with a method uniquely specifying a torque to be applied to each of the wheels while each of the wheels is in rolling motion.

摘要翻译： 提供全方位运动和控制的车轮底座或移动平台。 至少两个偏移轮组件耦合到支撑负载的平台。 每个偏移轮组件具有共享公共轴线的两个轮和可枢转地联接到刚性平台上的枢转点的机械连杆，并以这样的方式支撑两个车轮，使得公共轴线从枢轴点移位。 轮的公共轴线绕平行于车轮旋转平面的轴线自由旋转。 按照用户从任何瞬时配置或速度指定的任何方向，平台可以根据唯一地指定在每个车轮处于滚动状态时施加到每个车轮的扭矩的方法转动。

公开(公告)号：US5767648A

公开(公告)日：1998-06-16

申请号：US634934

申请日：1996-04-19

申请人： Guillaume Morel ,  Steven Dubowsky

发明人： Guillaume Morel ,  Steven Dubowsky

IPC分类号： B25J9/16

CPC分类号： B25J9/1628 ,  G05B2219/40582 ,  G05B2219/40599

摘要： An elegant, cost-effective apparatus and method is disclosed for compensating the effect of joint friction in manipuulators. The invention uses a six axis wrench sensor (also called a force/torque sensor) mounted between the manipulator and a reference body upon which it is supported. From the base wrench measurements, for rotary joints, the joint torques are estimated. The estimation apparatus uses Newton-Euler relations of successive link bodies. The estimated torque is fed back through a torque controller, that virtually eliminates friction and gravity effects. A position control loop encloses the torque controller and provides it with desired torques computed from measured position errors. For linear joints, appropriate forces are estimated. Coupled to link position sensors and the wrench sensor, is a gravity compensator, which generates a dynamic wrench signal that corresponds to the gravity compensated dynamic component of the base wrench signal, based on the position signals and the base wrench signal. Coupled to the gravity compensator and the position sensors is a joint analyzer, which generates a signal that corresponds to the gravity compensated torque that is actually applied to the link at the rotary joint, based on the dynamic wrench signal and the position signals. Both torques at rotary joints and forces at linear joints are estimated by the apparatus. Multiple and single joint manipulators can be evaluated. The achieved precision is substantially greater than for conventional methods and approaches the resolution of the Puma's encoders.

摘要翻译： 公开了一种优雅的，具有成本效益的装置和方法来补偿操纵器中的联合摩擦的影响。 本发明使用六轴扳手传感器（也称为力/扭矩传感器），其安装在操纵器和支撑在其上的参考体之间。 从基础扳手测量，对于旋转接头，估计接头扭矩。 估计装置使用连续链接体的牛顿 - 欧拉关系。 估计的扭矩通过扭矩控制器反馈，实际上消除了摩擦和重力作用。 位置控制回路包围扭矩控制器，并向其提供从测量位置误差计算出的所需转矩。 对于线性关节，估计适当的力。 耦合到链接位置传感器和扳手传感器，是重力补偿器，其基于位置信号和基准扳手信号产生对应于基础扳手信号的重力补偿动态分量的动态扳手信号。 耦合到重力补偿器并且位置传感器是联合分析器，其基于动态扳手信号和位置信号产生对应于实际施加到旋转接头处的连杆的重力补偿转矩的信号。 旋转接头处的扭矩和直线接头处的力均由设备估计。 可以评估多个和单个关节操纵器。 实现的精度比传统方法大得多，并且可以实现Puma编码器的分辨率。

公开(公告)号：US20120211409A1

公开(公告)日：2012-08-23

申请号：US13032896

申请日：2011-02-23

申请人： Steven Dubowsky ,  Amy M. Bilton ,  Leah C. Kelley

发明人： Steven Dubowsky ,  Amy M. Bilton ,  Leah C. Kelley

IPC分类号： B01D29/00

CPC分类号： B01D61/10 ,  B01D61/025 ,  B01D61/12 ,  B01D2311/10 ,  B01D2311/16 ,  B01D2313/365 ,  B01D2313/38 ,  C02F1/441 ,  C02F2103/08 ,  C02F2201/007 ,  C02F2201/009 ,  C02F2209/02 ,  C02F2303/10 ,  Y02A20/131 ,  Y02A20/212 ,  Y02W10/30

摘要： Photovoltaic-powered reverse osmosis system. The system includes a photovoltaic panel for generating electricity and includes a heat exchanger in thermal contact with the photovoltaic panel. The salt-containing feed water is fed to a reverse osmosis unit to produce clean water therefrom. Fluid circuitry, including a pump, circulates the feed water through the heat exchanger to cool the photovoltaic panel and to heat the feed water. It also delivers the heated feed water to the reverse osmosis unit for desalination. Cooling the solar panel and heating the RO feed water increases the total amount of clean water produced. In a preferred embodiment, a thermal controller manages the temperatures of the photovoltaic panel and the feed water by controlling the flow of feed water through the fluid circuitry. The photovoltaic panel temperature is minimized and the temperature of the feed water is maximized subject to a constraint on maximum feed water temperature.

摘要翻译： 光伏逆渗透系统。 该系统包括用于发电的光伏面板，并且包括与光伏面板热接触的热交换器。 将含盐的进料水进料到反渗透装置以从其中产生干净的水。 包括泵的流体回路使供水循环通过热交换器以冷却光伏面板并加热给水。 它还将加热的进料水输送到反渗透单元以进行脱盐。 冷却太阳能电池板并加热RO给水增加了生产的清洁水的总量。 在优选实施例中，热控制器通过控制通过流体回路的给水流来管理光伏面板和给水的温度。 光伏面板温度最小化，并且在最大给水温度受到限制的情况下，给水的温度最大化。