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公开(公告)号：US20230322417A1
公开(公告)日：2023-10-12
申请号：US18208641
申请日：2023-06-12
发明人： Daniel Rey , Farhad Aghili , Franco MOROSO
摘要： An attitude control module is described for providing propellant-free attitude control and momentum desaturation to a spacecraft. The attitude control module includes at least one solar sail comprising a reflective surface for reflecting solar photons; and at least one robotic arm coupled to the at least one solar sail, said at least one robotic arm comprising at least 4 degrees of freedom for positioning and orienting the at least one solar sail relative to the spacecraft. A corresponding method for operating the attitude control module to unload excess momentum from a spacecraft is also described.
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公开(公告)号：US11124320B2
公开(公告)日：2021-09-21
申请号：US16273837
申请日：2019-02-12
发明人： Viqar Abbasi , Michel Doyon
摘要： A method for desaturating reaction wheels of a spacecraft having a magnetic dipole is provided. The method includes orienting the spacecraft relative to an external magnetic field to apply a torque to the spacecraft via the magnetic dipole in a direction opposing momentum stored in the reaction wheels; and using the applied torque to unload at least some of the momentum stored in the reaction wheels. A corresponding spacecraft and non-transitory computer-readable medium are also provided.
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公开(公告)号：US08994308B2
公开(公告)日：2015-03-31
申请号：US13624270
申请日：2012-09-21
申请人： Farhad Aghili
发明人： Farhad Aghili
CPC分类号： H02P25/22 , H02P29/032
摘要： A technique for controlling drive currents to respective windings of a multi-winding brushless motor comprises monitoring an output of the motor and a demand of the motor, determining whether a failure mode has occurred, the failure mode being an instantaneous complete or partial failure to generate demanded output; and, upon detection of a failure mode on a first winding, distributing a demand contribution that is not being produced by the first winding to one or more of the windings that are not in a failure mode. The demand may be torque demand, and the failure modes may include winding failure, and voltage and/or current saturation. Improved torque output is generated by the redistribution of demand among phases in the event of a failure mode.
摘要翻译： 用于控制多绕组无刷电动机各个绕组的驱动电流的技术包括监测电动机的输出和电动机的需求，确定故障模式是否已经发生，故障模式是瞬时完成或部分故障生成 要求产量; 并且在第一绕组上检测到故障模式时，将不是由第一绕组产生的需求贡献分配给不处于故障模式的一个或多个绕组。 需求可能是扭矩需求，故障模式可能包括绕组故障，电压和/或电流饱和。 改进的扭矩输出是通过在故障模式下的相间需求重新分配产生的。
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4.发明申请METHOD AND SYSTEM OF INCREASING SPATIAL RESOLUTION OF MULTI-DIMENSIONAL OPTICAL IMAGERY USING SENSOR'S INTRINSIC KEYSTONE 有权使用传感器内部梯形图增加多维光学图像的空间分辨率的方法和系统公开(公告)号：US20140043505A1
公开(公告)日：2014-02-13
申请号：US13984590
申请日：2011-02-11
申请人： Shen-En Qian
发明人： Shen-En Qian
IPC分类号： H04N5/232
CPC分类号： H04N5/23232 , G06T3/4069 , H04N5/349
摘要： A method and system for creating a high spatial resolution image from a multidimensional imagery is disclosed. The technique exploits an intrinsic spatial distortion of the sensor that acquired the imagery and uses it as additional information to increase spatial resolution of the imagery. The method comprises obtaining a baseline image from the multidimensional imagery; deriving n×m−1 sub-pixel shifted images from the multidimensional imagery, where n and m are spatial resolution increase factors in x and y directions respectively, integers and greater than 1; organizing the baseline image and the n×m−1 sub-pixel shifted images from the multidimensional imagery; fusing the organized images using iterative back projection (IBP) to generate a high resolution image; and outputting the generated high resolution image.
摘要翻译： 公开了一种用于从多维图像创建高空间分辨率图像的方法和系统。 该技术利用获取图像的传感器的内在空间失真，并将其用作附加信息以增加图像的空间分辨率。 该方法包括从多维图像获得基线图像; 从多维图像导出n×m-1个子像素移位图像，其中n和m分别是x和y方向上的空间分辨率增加因子，整数和大于1; 从多维图像组织基线图像和n×m-1个子像素移位图像; 使用迭代反投影（IBP）融合有组织的图像以产生高分辨率图像; 并输出所生成的高分辨率图像。
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公开(公告)号：US07403826B2
公开(公告)日：2008-07-22
申请号：US11289439
申请日：2005-11-30
申请人： Farhad Aghili , Mehrzad Namvar
发明人： Farhad Aghili , Mehrzad Namvar
IPC分类号： G05B13/02
CPC分类号： G05B5/01 , F15B21/087 , G05B13/042 , G05B17/02
摘要： A combined scheme of identification and torque control is provided for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with a robust linear feedback outer loop. The proposed controller allows the actuator to generate desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for many robotics and automation applications. An identification method to extract the parameters of non-linear model of actuator dynamics and to estimate a bound for modeling uncertainty, used for synthesis of the outer optimal controller, is also presented. Results are illustrated experimentally on a pitch actuator of a Schilling industrial robot.
摘要翻译： 为旋转液压执行器提供了识别和转矩控制的组合方案。 复合控制器由一个动态反馈线性化内环与一个鲁棒的线性反馈外环级联组成。 所提出的控制器允许致动器产生期望的扭矩，而与致动器运动无关。 事实上，控制器可以显着降低执行器的阻抗，如外部负载所示，使系统成为适用于许多机器人和自动化应用的理想转矩源。 还提出了一种用于提取执行器动力学非线性模型参数并估计用于合成外部最优控制器的建模不确定性的界限的识别方法。 结果在实验上用Schilling工业机器人的螺距执行机构进行了说明。
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公开(公告)号：US6127672A
公开(公告)日：2000-10-03
申请号：US863063
申请日：1997-05-23
申请人： Lee Danisch
发明人： Lee Danisch
摘要： A position, orientation, shape and motion measuring tool is provided in the form of a flexible substrate with bend and twist sensors distributed along its surface at known intervals. A ribbon-type substrate is preferred. The geometric configuration of the substrate is calculated from inter-referencing the locations and orientations of the sensors based upon the detected bend and twist values. Suitable applications include motion capture for humans for use in animation, six degree of freedom input to a computer, profile measurement and location tracking within a large, singularity-free working space.
摘要翻译： 位置，取向，形状和运动测量工具以柔性基底的形式提供，其中弯曲和扭转传感器以已知间隔沿其表面分布。 优选带状基材。 基于检测到的弯曲和扭曲值，相互参考传感器的位置和取向来计算衬底的几何构型。 合适的应用包括人类用于动画的运动捕捉，计算机的六自由度输入，大型无奇异值工作空间内的轮廓测量和位置跟踪。
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公开(公告)号：US6116844A
公开(公告)日：2000-09-12
申请号：US632497
申请日：1996-05-09
申请人： Vincent Hayward
发明人： Vincent Hayward
CPC分类号： B25J13/02 , B25J17/0266 , B25J17/0283 , B25J9/106 , F16H21/46 , G05G9/04737
摘要： A mechanism for orienting an end member utilizes paired five-bar linkages wherein two joints on each five-bar linkage may be actuated. Preferably the actuators are mounted at the base-link of the five bar linkages, such base-links being collinearly aligned. Two or three rotational and one translational degrees of freedom are available. This mechanism in its three or two degrees of rotational freedom variants has exceptional motion range, free of singularities, superior structural properties, and is easy to manufacture. This orienting mechanism can be mounted as an end member on a positioning mechanism having four main links herein three joints are actuated. The diagonally oppose joints of the positioning mechanism are respectively spherical and revolute. This positioning mechanism can operate with two actuators that are grounded and one that is elevated. In all cases sensors may be substituted for, or used in conjunction with, actuators to provide an apparatus useful, interalia, in the telerobotics and virtual reality fields.
摘要翻译： PCT No.PCT / CA94 / 00583 Sec。 371日期：1996年5月9日 102（e）日期1996年5月9日PCT 1994年10月26日PCT公布。 公开号WO95 / 11780 日期1995年5月4日一种用于定向端部构件的机构利用成对的五杆连杆，其中每个五杆连杆机构上的两个接头可以被致动。 优选地，致动器安装在五个杆连杆的基部连杆处，这样的基部连杆被共线对准。 有两到三个旋转和一个平移自由度可用。 该机构的三或二度旋转自由度变化具有卓越的运动范围，无奇点，优异的结构性能，易于制造。 该定向机构可以作为端部构件安装在具有四个主要连杆的定位机构上，这三个接头被致动。 定位机构的斜对角接头分别为球面和旋转。 该定位机构可以使用两个接地的致动器和一个升高的致动器来操作。 在所有情况下，传感器可以代替致动器，或与致动器一起使用，以提供在远程机器人和虚拟现实领域中有用的内部装置。
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公开(公告)号：US6066850A
公开(公告)日：2000-05-23
申请号：US946702
申请日：1997-10-08
申请人： Charles Hersom , Zvika Afik , Allan Hollinger , Paul J. Thomas
发明人： Charles Hersom , Zvika Afik , Allan Hollinger , Paul J. Thomas
摘要： The present invention provides a method for distinguishing a boundary of an object, and the object itself, from its background. In the method electromagnetic radiation is detected from at least one field of view substantially spanning the boundary of the object and background adjacent to the boundary and superimposed or overlaid as images onto a detector. The method includes correlating spatial transitions in intensity of the overlaid images on the detector with a boundary of the object. When used for determining the attitude of a satellite with respect to the earth, the detector is a thermal infrared detector thereby providing a sharp contrast between the thermal emission of the earth and cold space. The invention provides a simple, effective method and device for determining satellite orientation and/or attitude with respect to a thermal infrared-emitting target body. The sensor includes a segmented limb-looking mirror to provide multiple fields-of-view within the field-of-regard and superimposing these fields-of-view as images onto a common detector. The required resolution can be obtained while providing a wide range of operational orbital altitudes. The attitude of the satellite can vary by a large angle from the minimal orientation while still permitting an accurate determination of attitude. Multiple channels in a modular form provide redundancy, improved accuracy, and the opportunity of providing more diverse configurations. The utilization of uncooled microbolometer arrays as imaging detectors removes the requirement for additional cooling equipment thereby providing a low cost, small size and low mass sensor with configurational flexibility and no moving parts.
摘要翻译： 本发明提供了一种用于区分对象和对象本身的边界与其背景的方法。 在该方法中，从至少一个视野基本上跨越与边界相邻的对象和背景的边界并且叠加或重叠为图像的检测器检测电磁辐射。 该方法包括将检测器上的重叠图像的强度的空间转换与对象的边界相关联。 当用于确定卫星相对于地球的姿态时，检测器是热红外探测器，从而在地球和冷空间的热发射之间形成鲜明的对比。 本发明提供了一种用于确定相对于热红外发射目标体的卫星定向和/或姿态的简单有效的方法和装置。 该传感器包括分段的肢体镜，以在观察区域内提供多个视野，并将这些视场作为图像叠加到公共检测器上。 在提供广泛的操作轨道高度时可以获得所需的分辨率。 卫星的姿态可以从最小方向变化很大的角度，同时仍能准确地确定姿态。 模块化形式的多个通道提供冗余，提高准确度，并提供更多样化配置的机会。 利用未冷却的微热辐射计阵列作为成像检测器消除了对附加冷却设备的需求，从而提供具有配置灵活性和无移动部件的低成本，小尺寸和低质量传感器。
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公开(公告)号：US5673595A
公开(公告)日：1997-10-07
申请号：US446069
申请日：1995-05-19
CPC分类号： B25J9/106 , Y10T74/20329
摘要： A four degree of freedom manipulator which comprises a pair of elongate rigid legs connected by a joint. The joint acts as an end-effector or an end-effector is attached thereto, The legs effectively intersect at a point in the joint. The positioning end of each leg is attached to a two degree of freedom positioning mechanism that can position it in a two dimensional plane. The connection between the leg and the positioning mechanism has two passive rotational degrees of freedom. Preferably five bar mechanisms are used as the positioning mechanisms. The manipulator can control the position and orientation of an end-effector.
摘要翻译： 一种四自由度操纵器，包括一对通过接头连接的细长刚性支柱。 关节作为末端执行器或末端执行器附接到其上，腿部在关节的某个点处有效地相交。 每个支腿的定位端附接到可以将其定位在二维平面中的两个自由度定位机构。 腿和定位机构之间的连接具有两个被动旋转自由度。 优选地，使用五个杆机构作为定位机构。 操纵器可以控制端部执行器的位置和方向。
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公开(公告)号：US5592131A
公开(公告)日：1997-01-07
申请号：US220215
申请日：1994-03-30
申请人： Louis Labreche , Jean-Pierre Lepage
发明人： Louis Labreche , Jean-Pierre Lepage
摘要： A carrier frequency modulating system and method for producing a modulated carrier frequency is disclosed. The system comprises a carrier frequency signal generator for producing a carrier frequency signal at a carrier frequency at an output thereof. The system further comprises a sequencer for producing a modulation signal at an output thereof. This modulation signal comprises a plurality of modulation signal portions separated by at least one null modulation signal portion having a corresponding time length. The system is provided with a modulator for producing a modulated carrier frequency signal at an output thereof. The modulator has a first input connected to the output of the carrier frequency signal generator for receiving the carrier frequency signal, and has a second input for receiving the modulation signal. The system further comprises a power supply unit for supplying electrical power to the carrier frequency signal generator. The sequencer is connected to the carrier frequency signal generator for controlling the activation thereof and to interrupt the carrier frequency signal generator instead of modulating the null modulation signal portion during the corresponding time length, whereby power consumption of the system is minimized.
摘要翻译： 公开了一种用于产生调制载波频率的载波频率调制系统和方法。 该系统包括载波频率信号发生器，用于在其输出处产生载波频率的载波频率信号。 该系统还包括用于在其输出端产生调制信号的定序器。 该调制信号包括由具有相应时间长度的至少一个零调制信号部分分开的多个调制信号部分。 该系统设置有用于在其输出处产生调制载波频率信号的调制器。 调制器具有连接到载波频率信号发生器的输出的第一输入端，用于接收载波频率信号，并具有用于接收调制信号的第二输入端。 该系统还包括用于向载波频率信号发生器提供电力的电源单元。 定序器连接到载波频率信号发生器，用于控制其激活并中断载波频率信号发生器，而不是在相应的时间长度内调制零调制信号部分，从而使系统的功耗最小化。
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