| Oceaneering International, Inc. Patent applications |
| Patent application number | Title | Published |
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| 20110071680 | INTEGRATED HIGH-SPEED TORQUE CONTROL SYSTEM FOR A ROBOTIC JOINT - A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA). | 03-24-2011 |
| 20110071678 | TENDON DRIVEN FINGER ACTUATION SYSTEM - A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger. | 03-24-2011 |
| 20110071673 | ACTUATOR AND ELECTRONICS PACKAGING FOR EXTRINSIC HUMANOID HAND - The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support. | 03-24-2011 |
| 20110071672 | FRAMEWORK AND METHOD FOR CONTROLLING A ROBOTIC SYSTEM USING A DISTRIBUTED COMPUTER NETWORK - A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks. | 03-24-2011 |
| 20110068595 | ROBOTIC FINGER ASSEMBLY - A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange. | 03-24-2011 |
| 20110067521 | HUMANOID ROBOT - A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders. | 03-24-2011 |
| 20110067517 | ROTARY SERIES ELASTIC ACTUATOR - A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint. | 03-24-2011 |
| 20110067479 | SYSTEM AND METHOD FOR CALIBRATING A ROTARY ABSOLUTE POSITION SENSOR - A system includes a rotary device, a rotary absolute position (RAP) sensor generating encoded pairs of voltage signals describing positional data of the rotary device, a host machine, and an algorithm. The algorithm calculates calibration parameters usable to determine an absolute position of the rotary device using the encoded pairs, and is adapted for linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters. A method of calibrating the RAP sensor includes measuring the rotary position as encoded pairs of voltage signals, linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters, and calculating an absolute position of the rotary device using the calibration parameters. The calibration parameters include a positive definite matrix (A) and a center point (q) of the ellipse. The voltage signals may include an encoded sine and cosine of a rotary angle of the rotary device. | 03-24-2011 |
| 20100252300 | Electromagnetically Shielded Subsea Power Cable - This invention is directed to an electromagnetically shielded subsea power cable containing at least one conductor, an electromagnetic shielding layer wrapped around each conductor, an insulation layer wrapped around each electromagnetic shielding layer, and a metallic shielding layer wrapped around each insulation layer. The subsea power cable can be used to transport power from a power source to a power user located subsea or at an intermediate facility, such as a platform. | 10-07-2010 |
| 20100186833 | 4-Way Valve System - The invention relates to valve system made up of multiple three way valves mechanically coupled together to produce the functionality of a four way valve. | 07-29-2010 |
| 20100180915 | Subsea Conduit Cleaning Skid and Method - The invention described herein is directed to a skid for cleaning subsea conduits, such as strakes and fairings, and a method of cleaning subsea conduits. This invention may be utilized for the removal of marine growth from subsea conduits. | 07-22-2010 |
| 20100101477 | System and Method for High Current Recovery Cursor - A high current cursor comprises a outer frame in which a center carriage travels. The center carriage travels between the top and bottom of the outer frame. Movement of the center carriage is limited within the outer frame constraints and its own locking mechanism. Center carriage carries a bend restrictor for an umbilical or lift line. When the center carriage travels down to a predetermined position within the high current cursor, equipment is allowed to exit the high current cursor or is retrieved back into the high current cursor when the bend restrictor reaches a predetermined position within the outer frame, e.g. at its lowest point, allowing dispersal and/or retrieval without obstruction back to a fixed recovery point. | 04-29-2010 |
| 20100052309 | Umbilical Bullet Connector - The invention described herein is directed to a bullet connector for umbilicals, and for a method of disconnecting an umbilical from a bullet connector. The bullet connector described herein comprises a tapered nose cone, a body comprising a cylindrical housing, a cylinder removeably mounted in the cylindrical housing, and a locking plate removeably fastened to the lower region of the cylinder. | 03-04-2010 |
| 20100042357 | Manipulator Position Sensor System - A system and method for determining a position of an articulated member with respect to a predetermined plane comprise a multi-axis accelerometer mounted to a first movable member of an articulated set of members. The multi-axis accelerometer produces a sinusoidal signal in proportion to a position of the member with respect to a predetermined set of axes of a predetermined plane. An motion controller operatively in communication with the multi-axis accelerometer determines the angle of inclination as the arctangent of two readings obtained from the accelerometer. | 02-18-2010 |
| 20100012323 | BEAD PACK BRAZING WITH ENERGETICS - A method of making porous shapes from unit structures such as beads involves coating the beads with two or more layers of material deposited such that it forms an energetic material. These bi-layer energetic materials are formed from a variety of materials including, but not limited to: Ti & B, Zr & B, Hf & B, Ti & C, Zr & C, Hf & C, Ti & Si, Zr & Si, Nb & Si, Ni & Al, Zr & Al, or Pd & Al, all of which can be deposited from vapor. Pressure is applied to prevent the components from moving and the solid-state reaction between the alternating layers produces exothermic heat. Heat from the reaction alone or in conjunction of an applied brazing compound joins the beads forming a porous shape that is desired. The reaction in the materials may be activated with a small pulse of local energy that can be applied using optical, electrical, or thermal sources. Common examples include an electrical pulse, spark, hot filament, a laser beam, etc. The method reduces energy consumption and the need for specialized equipment. The reactive materials and optional brazing material are preferably applied in a fluidized CVD furnace. | 01-21-2010 |
| 20090263205 | Self Locking Tensioner - The present invention is directed to a self locking tensioner that can be used to place a piston or stud in tension. The present invention is directed to a tensioner comprising slip wedges positioned between a piston and a body which houses the piston and the slip wedges. | 10-22-2009 |
| 20090178216 | Subsea Conduit Cleaning Tool - The invention described herein relates to a cleaning tool for cleaning subsea conduits, such as tendons, risers or strakes. This invention comprises a flotation collar and brush member which may be attached to a subsea conduit and which may travel up a subsea conduit as a result of buoyancy forces and be retracted using one or more winches. | 07-16-2009 |
| 20090100724 | Underwater Sediment Evacuation System - This invention is directed to an underwater sediment evacuation system. The invention uses a suction pile and one or more pumps, valves, and lines to evacuate sediment contained within the internal volume of the suction pile. | 04-23-2009 |
| 20090026765 | Connector Jumper - A method of connecting pipe ends of two subsea pipes using a jumper includes raising two separate ends of two separate pipelines from an initial position of each of the two separate ends; creating a jumper pipe; welding a flange with a landing saddle to each pipeline end; disposing a predetermined number of cylinders at a predetermined interval offset with respect to each of the cylinders; connecting a cylinder end to a first leg of the jumper pipe; connecting a rod end to a second leg of the jumper pipe; using the cylinders to contract the jumper in a predetermined plane so that the flanges clear the pipe ends but not the flange saddles; supporting the jumper by a spreader bar; lowering the jumper over the pipeline such that the flange saddles rest on the pipeline ends; relaxing at least one of the cylinders so the jumper expands in the predetermined plane, driving the flanges onto the pipeline ends; releasing the spreader bar; and lowering the pipeline ends and jumper to a predetermined position. | 01-29-2009 |
| 20080300742 | Hybrid remotely/autonomously operated underwater vehicle - Disclosed is an underwater vehicle that can be operated as a remotely operated vehicle (ROV) or as an autonomous vehicle (AUV). The underwater vehicle has a tether, which may be a fiberoptic cable, that connects the vehicle to a control console. The underwater vehicle has vertical and lateral thrusters, pitch and yaw control fins, and a propulsor, all of which may be used in an ROV-mode when the underwater vehicle is operating at slow speeds. The underwater vehicle may also be operated in a AUV-mode when operating at higher speeds. The operator may switch the vehicle between ROV-mode and AUV-mode. The underwater vehicle also has a fail-safe mode, in which the vehicle may navigate according to a pre-loaded mission plan if the tether is severed. | 12-04-2008 |
