公开(公告)号：WO2010025419A3

公开(公告)日：2011-03-03

申请号：PCT/US2009055440

申请日：2009-08-28

Applicant: RAYTHEON SARCOS LLC ,  JACOBSEN STEPHEN C ,  OLIVIER MARC ,  MACLEAN BRIAN

Inventor： JACOBSEN STEPHEN C ,  OLIVIER MARC ,  MACLEAN BRIAN

IPC: B25J9/00

CPC classification number: B25J9/0006 ,  A61H3/008 ,  B25J19/007

Abstract: A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.

Abstract translation: 一种配置仿生机械接头的方法，用于支撑构件围绕枢轴装置的有效移动。 该方法包括提供第一分数致动器和第二分数致动器，其可与支撑构件和枢转装置一起操作，将第一分数执行器的尺寸调整为在第一边界条件下的额定操作，以及调整第二分数致动器的尺寸，使得第一和第二 组合执行器在组合时被额定为在第二边界条件下操作。

公开(公告)号：WO2009089183A1

公开(公告)日：2009-07-16

申请号：PCT/US2009/030157

申请日：2009-01-05

Applicant: RAYTHEON SARCOS, LLC ,  JACOBSEN, Stephen, C. ,  PETELENZ, Tomasz, J. ,  PETERSON, Stephen, C.

Inventor： JACOBSEN, Stephen, C. ,  PETELENZ, Tomasz, J. ,  PETERSON, Stephen, C.

IPC: A61B5/02 ,  A61B5/026 ,  A61B5/029 ,  A61B5/05

CPC classification number: A61B5/05 ,  A61B5/02028 ,  A61B5/029 ,  A61B5/0507

Abstract: A system comprising a housing containing a signal generator coupled to an antenna and a dielectric material disposed about the antenna. The device is adapted to generate and direct a plurality of signals towards the heart of the person and measure a magnitude of a signal returned from the heart. The device further comprises a processor to compare differences between a magnitude of a signal propagated and the magnitude of the signal returned off the heart and determine a signal frequency having a maximum return loss value based on those differences. The processor also estimates a change in the amplitude of motion of a portion of a wall of the heart based on the differences between the magnitude of the signal propagated by the device and the magnitude of the signal returned off of the portion of the heart.

Abstract translation: 一种系统，包括壳体，其容纳耦合到天线的信号发生器和围绕天线设置的电介质材料。 该装置适于产生并引导人的心脏的多个信号并且测量从心脏返回的信号的幅度。 该装置还包括处理器，用于比较传播的信号的幅度与从心脏返回的信号的大小之间的差异，并基于这些差异确定具有最大回波损耗值的信号频率。 处理器还基于由器件传播的信号的幅度与从心脏部分返回的信号的大小之间的差异来估计心脏壁的一部分的运动幅度的变化。

公开(公告)号：WO2008127310A3

公开(公告)日：2009-03-05

申请号：PCT/US2007023869

申请日：2007-11-13

Applicant: RAYTHEON SARCOS LLC ,  JACOBSEN STEPHEN C ,  PENSEL RALPH ,  OLIVIER MARC

Inventor： JACOBSEN STEPHEN C ,  PENSEL RALPH ,  OLIVIER MARC

IPC: F41H11/16 ,  B64G1/16

CPC classification number: F41H11/16 ,  B64G1/16

Abstract: An unmanned robotic vehicle (10) is capable of sensing an environment at a location remote from the immediate area of the vehicle frame (18). The unmanned robotic vehicle (10) includes a retractable appendage (14) with a sensing element (16). The sensing element can include a camera, chemical sensor, optical sensor, force sensor, or the like.

Abstract translation: 无人机器人车辆（10）能够感测远离车辆框架（18）的直接区域的位置处的环境。 无人机器人车辆（10）包括具有感测元件（16）的可伸缩附件（14）。 感测元件可以包括照相机，化学传感器，光学传感器，力传感器等。

公开(公告)号：WO2008137953A8

公开(公告)日：2008-12-24

申请号：PCT/US2008062945

申请日：2008-05-07

Applicant: RAYTHEON SARCOS LLC ,  JACOBSEN STEPHEN C ,  MARCEAU DAVID

Inventor： JACOBSEN STEPHEN C ,  MARCEAU DAVID

IPC: A61M25/09 ,  A61B1/005 ,  B25J18/00

CPC classification number: A61M25/09 ,  A61M2025/09108 ,  Y10T29/49002 ,  Y10T29/49826 ,  Y10T428/24033

Abstract: A method for manufacturing a complex structure from a two-dimensional layout, the method comprising: (a) obtaining a support plate (40) having a pre-determined, patterned recess (48) formed in a surface thereof; (b) depositing a first series of individual flexible interconnects (70) into the recess, the flexible interconnects being aligned parallel to one another in a common plane and supported by the support plate; (c) adhering, with adhering means, at least one rigid member (102) to each of the flexible interconnects of the first series; (d) adhering, with adhering means, a second series of individual flexible interconnects (132) to the rigid members to form a plurality of stations, wherein each of the second series of flexible interconnects is adhered to two rigid members of adjacent flexible interconnects of the first series, the flexible interconnects of the second series being formed perpendicular to the flexible interconnects of the first series; (e) curing the adhering means to form an assembled, layered structure; (f) removing the layered structure from the support plate; and (g) folding, systematically, the layered structure on itself and causing at least some of the stations to be supported about a central spine (160) in a segmented manner.

Abstract translation: 一种从二维布局制造复杂结构的方法，所述方法包括：（a）获得在其表面形成有预定的图案化凹部（48）的支撑板（40）; （b）将第一系列单独的柔性互连件（70）沉积到所述凹部中，所述柔性互连件在公共平面中彼此平行对齐并由所述支撑板支撑; （c）用粘合装置将至少一个刚性构件（102）粘附到第一系列的每个柔性互连件上; （d）以粘合方式将第二系列单独的柔性互连件（132）粘附到所述刚性构件以形成多个工位，其中所述第二系列柔性互连件中的每一个粘附到所述第二组柔性互连件的两个刚性构件 第一系列中，第二系列的柔性互连件垂直于第一系列的柔性互连件形成; （e）固化所述粘合装置以形成组装的层状结构; （f）从支撑板上移除层状结构; 并且（g）系统地折叠本身上的分层结构，并且使得至少一些站以分段方式被支撑在中心脊（160）周围。

公开(公告)号：WO2008137986A1

公开(公告)日：2008-11-13

申请号：PCT/US2008/063051

申请日：2008-05-08

Applicant: RAYTHEON SARCOS, LLC ,  JACOBSEN, Stephen, C. ,  SMITH, Fraser, M.

Inventor： JACOBSEN, Stephen, C. ,  SMITH, Fraser, M.

IPC: F16K3/24 ,  F16K11/07 ,  F16K31/363

CPC classification number: F16K11/07 ,  F16K3/24 ,  F16K31/363 ,  Y10T137/0318 ,  Y10T137/86767 ,  Y10T137/87249 ,  Y10T137/87322

Abstract: A miniature quantum fluid transfer system configured to regulate the flow rate of a fluid by allowing passage of very small, discrete increments of fluid through the valve including a valve body having at least one inlet to receive fluid and at least one outlet to release fluid. The quantum fluid transfer system includes a valve rod movably disposed in a first chamber in the valve body. The valve rod has a plurality of fluid passages spaced longitudinally along the valve rod, and the valve rod is movable to align each fluid passage with an inlet or outlet port in the first chamber to allow fluid to flow through selected inlet or outlet ports corresponding to selected fluid passages. The quantum fluid transfer system has a plug movably disposed in a second chamber in the valve body. The plug is movable between a first end and a second end of the second chamber, and moves toward the first or second end when a volume of fluid enters the second chamber from the first chamber at the other of the first or second end. The plug pushes a corresponding volume of fluid out of the second chamber at the end opposite the end the fluid entered.

Abstract translation: 一种微型量子流体传输系统，其被配置为通过允许非常小的离散增量的流体通过所述阀来调节流体的流速，包括具有至少一个入口以接收流体的阀体和至少一个用于释放流体的出口。 量子流体传输系统包括可移动地设置在阀体中的第一室中的阀杆。 阀杆具有沿着阀杆纵向间隔开的多个流体通道，并且阀杆可移动以使每个流体通道与第一腔室中的入口或出口端口对准，以使流体流过选定的入口或出口端口 选定的流体通道。 量子流体传输系统具有可移动地设置在阀体中的第二室中的塞子。 塞子可以在第二室的第一端和第二端之间移动，并且当一定体积的流体在第一或第二端的另一端从第一室进入第二室时朝着第一或第二端移动。 塞子将相应体积的流体从与进入的流体末端相反的一端推出第二腔室。

公开(公告)号：WO2009006117A1

公开(公告)日：2009-01-08

申请号：PCT/US2008/068060

申请日：2008-06-24

Applicant: RAYTHEON SARCOS, LLC ,  JACOBSEN, Stephen, C. ,  OLSEN, Shane ,  MORRISON, Michael

Inventor： JACOBSEN, Stephen, C. ,  OLSEN, Shane ,  MORRISON, Michael

IPC: F15B11/044 ,  F15B11/042 ,  G05D16/10

CPC classification number: F15B11/044 ,  F15B11/042 ,  F15B2211/30565 ,  F15B2211/30575 ,  F15B2211/50554 ,  F15B2211/528 ,  G05D16/18 ,  Y10T137/0396 ,  Y10T137/7765 ,  Y10T137/87201 ,  Y10T137/87225

Abstract: The present invention describes, generally, a method and system for controlling the dynamics of an actuatable load functioning or operable within a servo or servo-type system, wherein the dynamics of the load are controlled by way of a unique asymmetric pressure control valve (10) configured to provide intrinsic pressure regulation. The asymmetric pressure control valve (10), which may be referred to as a dynamic pressure regulator because of its capabilities, utilizes different sized free floating spools that are physically independent of one another and freely supported in interior cavities of respective corresponding different sized valving components that make up the valve body (12) to regulate the pressures acting within the overall system between the control or pilot pressure and the load or load pressure. The dual spools of the pressure control valve (10), although physically independent of one another, function in cooperation with one another in an attempt to maintain a state of equilibrium in the system, namely to keep pressure acting on or within the actuator (the load pressure), or the feedback pressure corresponding to the load pressure, the same as the control or pilot pressure. Moreover, pressure regulation and control is intrinsic to the asymmetric pressure control valve (10) because of the configuration and function of the dual spools and the feedback system acting on the spools, thus eliminating the need for electronically or mechanically user controlled systems.

Abstract translation: 本发明总体上描述了一种用于控制在伺服或伺服型系统中起作用或可操作的可致动负载的动力学的方法和系统，其中负载的动力学通过独特的非对称压力控制阀（10 ）配置为提供固有的压力调节。 不对称压力控制阀（10）由于其能力而被称为动态压力调节器，其利用不同尺寸的自由浮动阀芯，其在物理上彼此独立并且自由地支撑在各自对应的不同尺寸阀门部件的内腔中 其构成阀体（12）以调节在控制或先导压力与负载或负载压力之间作用在整个系统内的压力。 压力控制阀（10）的双线轴虽然在物理上彼此独立，但是彼此配合起作用，以保持系统中的平衡状态，即保持作用在致动器上或在致动器内的压力 负载压力）或对应于负载压力的反馈压力，与控制或先导压力相同。 此外，由于双线轴和反馈系统作用在线轴上的配置和功能，压力调节和控制对于非对称压力控制阀（10）是固有的，因此无需电子或机械用户控制的系统。

公开(公告)号：WO2008150630A2

公开(公告)日：2008-12-11

申请号：PCT/US2008/063058

申请日：2008-05-08

Applicant: RAYTHEON SARCOS, LLC ,  JACOBSEN, Stephen, C. ,  OLIVIER, Marc ,  PENSEL, Ralph, W. ,  HIRSCHI, Christopher, R.

Inventor： JACOBSEN, Stephen, C. ,  OLIVIER, Marc ,  PENSEL, Ralph, W. ,  HIRSCHI, Christopher, R.

CPC classification number: B25J5/005 ,  B25J9/1602 ,  B62D55/075

Abstract: Varying modes of movement of a robotic crawler are provided by using a variable mapping from high-level (operator input) primitives into low-level primitives. The mapping is a function of environmental data sensed by the robotic crawler enabling the movement mode to be adapted to the environment.

Abstract translation: 通过使用从高级（运算符输入）原语到低级原语的变量映射来提供机器人爬虫的不同运动模式。 该映射是由机器人履带感测的环境数据的功能，使得移动模式能够适应环境。

公开(公告)号：WO2008137934A1

公开(公告)日：2008-11-13

申请号：PCT/US2008/062908

申请日：2008-05-07

Applicant: RAYTHEON SARCOS, LLC ,  JACOBSEN, Stephen, C. ,  PETELENZ, Tomasz, J.

Inventor： JACOBSEN, Stephen, C. ,  PETELENZ, Tomasz, J.

IPC: G01P1/12 ,  G01P15/04 ,  G01P15/08 ,  G01P15/09 ,  F41H1/02 ,  F41J5/056

CPC classification number: G01P1/127 ,  A42B3/046 ,  F41H1/02 ,  F41H1/04 ,  F41J5/056 ,  G01L5/0052 ,  G01P15/04 ,  G01P15/0891 ,  G01P15/0922

Abstract: Methods and devices for a miniature, ultra-low power impact recorder (24) for detecting, quantifying and recording the energy of an explosive blast or ballistic projectile impact. In one embodiment, the impact recorder can included a sensor (30) comprised of an array (32) of electromechanical resonators (34) that is sensitive to the vibrations produced in selected, discrete frequency ranges that approximate the spectral signature characteristics of the Shockwave resulting from the ballistic impact event (54), even after traveling through impacted material or body tissues.

Abstract translation: 用于检测，量化和记录爆炸性爆炸或弹道弹射冲击能量的微型超低功率冲击记录仪（24）的方法和装置。 在一个实施例中，冲击记录器可以包括由机电谐振器（34）的阵列（32）组成的传感器（30），所述阵列（32）对选定的离散频率范围产生的振动敏感，所述离散频率范围近似于所产生的冲击波的光谱特征 来自弹道撞击事件（54），甚至在穿过受冲击的材料或身体组织后。

公开(公告)号：WO2008076194A3

公开(公告)日：2008-10-23

申请号：PCT/US2007023909

申请日：2007-11-13

Applicant: RAYTHEON SARCOS LLC ,  JACOBSEN STEPHEN C

Inventor： JACOBSEN STEPHEN C

IPC: F16L55/32

CPC classification number: F16L55/32 ,  B62D55/065 ,  B62D55/0655 ,  B62D55/07 ,  B62D57/04 ,  F16L2101/30 ,  Y10T74/20329

Abstract: A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has a number of degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.

Abstract translation: 公开了能够进行多次移动的蛇形机器人履带。 蛇形机器人爬行器包括多个框架单元，通过至少一个致动连杆联接在一起。 每个框架单元包括一个连续轨道，使蛇形机器人履带的向前运动。 所述至少一个致动连杆具有多个运动自由度，使得蛇形机器人爬行器能够采取各种姿势。

公开(公告)号：WO2008076193A3

公开(公告)日：2008-09-25

申请号：PCT/US2007023870

申请日：2007-11-13

Applicant: RAYTHEON SARCOS LLC ,  JACOBSEN STEPHEN C

Inventor： JACOBSEN STEPHEN C

IPC: B62D55/065 ,  B62D55/075 ,  B62D57/024 ,  B62D57/028

CPC classification number: B62D55/0655 ,  B62D55/075 ,  B62D57/024 ,  B62D57/028

Abstract: A tracked robotic crawler capable of multiple movement moves is disclosed. In. one embodiment, the tracked robotic crawler (10) includes at least one frame unit (12), the frame unit having a continuous track (14) rotatably coupled thereto. Disposed on the at least one frame unit is at least one articulated arm (18a, 18b), the arm being movable relative to the frame unit in at least one dimension. The articulated arm helps to improve mobility of the tracked robotic crawler in various environments.

Abstract translation: 公开了一种能够进行多次移动的跟踪机器人履带。 在。 一个实施例，跟踪的机器人履带（10）包括至少一个框架单元（12），框架单元具有可旋转地联接到其上的连续轨道（14）。 在至少一个框架单元上设置有至少一个铰接臂（18a，18b），所述臂可在至少一个维度上相对于所述框架单元移动。 铰接臂有助于提高跟踪的机器人履带在各种环境中的移动性。