Patent application number | Description | Published |
20120125197 | DECONTAMINATION APPARATUSES AND METHODS - A decontamination apparatus is disclosed. The decontamination apparatus comprises a mist generator configured to generate a mist, a first conduit in fluid communication with the mist generator and configured to receive the mist, a stream movement device configured to move a stream, and a heating device configured to heat the stream moved by the stream movement device. The decontamination apparatus comprises a second conduit in fluid communication with the stream movement device and configured to receive the heated stream. The first conduit comprises a first outlet configured to pass the mist therethrough and the second conduit comprises a second outlet configured to pass the heated stream therethrough. The second outlet is positioned proximate to the first outlet. A portion of the mist evaporates into a vapor for decontamination of an environment when mixed with the heated stream outside of the first outlet, the second outlet, and the decontamination apparatus. | 05-24-2012 |
20120275952 | Method for Reducing the Concentration of Disinfectant, Decontamination Apparatuses and Systems and Related Methods of Employing the Same - A method of reducing the concentration of disinfectant in an environment having a concentration of disinfectant of about 500 ppm or less for a period of time to a lower concentration is disclosed. The method comprises the steps of dehumidifying the environment for the period of time to remove disinfectant, and humidifying the environment with moisture during the period of time to maintain a difference between a lower relative humidity and an upper relative humidity of the environment ranging from about 20 to 50%. A system for decontaminating an environment is also disclosed, comprising a source of disinfectant, a source of moisture, one or more spray generators, and a dehumidifier. | 11-01-2012 |
20120275953 | METHOD FOR REDUCING THE CONCENTRATION OF DISINFECTANT, DECONTAMINATION APPARATUSES AND SYSTEMS AND RELATED METHODS OF EMPLOYING THE SAME - A method of reducing the concentration of disinfectant in an environment having a concentration of disinfectant of about 500 ppm or less for a period of time to a lower concentration is disclosed. The method comprises the steps of dehumidifying the environment for the period of time to remove disinfectant, and humidifying the environment with moisture during the period of time to maintain a difference between a lower relative humidity and an upper relative humidity of the environment ranging from about 20 to 50%. A system for decontaminating an environment is also disclosed, comprising a source of disinfectant, a source of moisture, one or more spray generators, and a dehumidifier. A method of decontaminating an environment or enclosure is disclosed, comprising the steps of introducing disinfectant, maintaining liquid disinfectant on surfaces, and dehumidifying the environment to increase the disinfectant concentration is also disclosed. | 11-01-2012 |
Patent application number | Description | Published |
20100280659 | TENSION DISTRIBUTION IN A TENDON-DRIVEN ROBOTIC FINGER - A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above. | 11-04-2010 |
20100280662 | TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS - A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons. | 11-04-2010 |
20110257784 | METHOD AND APPARATUS FOR CALIBRATING MULTI-AXIS LOAD CELLS IN A DEXTEROUS ROBOT - A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided. | 10-20-2011 |
20110295419 | APPLYING WORKSPACE LIMITATIONS IN A VELOCITY-CONTROLLED ROBOTIC MECHANISM - A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position. | 12-01-2011 |
20120109379 | ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS - A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions. | 05-03-2012 |
20130035792 | METHOD AND SYSTEM FOR CONTROLLING A DEXTEROUS ROBOT EXECUTION SEQUENCE USING STATE CLASSIFICATION - A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state. | 02-07-2013 |
Patent application number | Description | Published |
20100280661 | HIERARCHICAL ROBOT CONTROL SYSTEM AND METHOD FOR CONTROLLING SELECT DEGREES OF FREEDOM OF AN OBJECT USING MULTIPLE MANIPULATORS - A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. Hie controller controls the manipulators dining the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type. | 11-04-2010 |
20100280663 | METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT - A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes. | 11-04-2010 |
20130193704 | 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. | 08-01-2013 |