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公开(公告)号：US09335233B2
公开(公告)日：2016-05-10
申请号：US13095135
申请日：2011-04-27
申请人： Atia Khalifa , Rached Ben-Mansour , Kamal Youcef-Toumi , Mohamed A. Habib , Dimitrios Chatzigeorgiou
发明人： Atia Khalifa , Rached Ben-Mansour , Kamal Youcef-Toumi , Mohamed A. Habib , Dimitrios Chatzigeorgiou
IPC分类号： G01M3/28
CPC分类号： G01M3/2815 , G01M3/2823
摘要： Leak detection system. The system includes a structure sized to fit within a pipe for supporting at least one sensing element near an inside wall of the pipe, whereby a pressure gradient at a leak in the pipe will cause the sensing element to respond. Structure is provided for detecting movement or deformation of the sensing element, the movement or deformation indicating the presence of a leak. In a preferred embodiment, the structure includes two spaced-apart rings for supporting the at least one sensing element. The sensing element is a diaphragm in a preferred embodiment. In this embodiment, the sensing element is supported for movement with respect to the ring structure which includes sensing circuitry for detecting the movement to indicate a leak. Other embodiments employ different sensing elements that respond to pressure gradients near leaks.
摘要翻译： 泄漏检测系统。 该系统包括尺寸适于安装在管道内的结构，用于支撑管道内壁附近的至少一个感测元件，由此在管道中泄漏的压力梯度将导致感测元件响应。 提供用于检测感测元件的运动或变形的结构，指示存在泄漏的运动或变形。 在优选实施例中，该结构包括用于支撑至少一个感测元件的两个间隔开的环。 感测元件是优选实施例中的隔膜。 在该实施例中，感测元件被支撑为相对于环结构移动，该环结构包括用于检测运动以指示泄漏的感测电路。 其他实施例采用响应泄漏附近的压力梯度的不同的感测元件。
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公开(公告)号：US08783297B2
公开(公告)日：2014-07-22
申请号：US13409207
申请日：2012-03-01
IPC分类号： F16L55/16
CPC分类号： F16L55/163
摘要： System for pipeline rehabilitation. The system includes repairing a leak in a pipe using a pair of substantially semi-cylindrical parts connected through a compliant joint. When the parts are compressed, the semi-cylindrical parts form a cylinder whose outside diameter is less than the inside diameter of a pipe with a defect thereby allowing the cylinder to be inserted into the pipe at a location of a leak. Once in place, the parts engage the inside surface of the pipe when the compression is released thereby to seal the leak.
摘要翻译： 管道修复系统。 该系统包括使用通过柔性接头连接的一对基本上半圆柱形部件修复管道中的泄漏。 当部件被压缩时，半圆柱形部件形成一个圆筒，其外径小于具有缺陷的管的内径，从而允许气缸在泄漏的位置插入到管中。 一旦就位，当压缩被释放时，部件接合管的内表面，从而密封泄漏。
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公开(公告)号：US08347409B2
公开(公告)日：2013-01-01
申请号：US12785840
申请日：2010-05-24
CPC分类号： G01Q10/065
摘要： A method includes generating, using a sensor, a data signal. The data signal includes a first component based on a motion in a first direction of an actuator configured to provide motion between a sample and a probe in the first direction, the first direction substantially in the plane of the sample; and a second component based on at least one of topographic variations of the sample in a second direction, and a materials property of the sample. The method further includes generating, using a processor, a compensatory signal based on the first component of the data signal generated by the sensor; and providing the compensatory signal to the actuator.
摘要翻译： 一种方法包括使用传感器生成数据信号。 数据信号包括基于致动器的第一方向上的运动的第一部件，所述致动器的第一方向被配置为在第一方向上提供样品和探针之间的运动，所述第一方向基本上在样品的平面中; 以及基于第二方向上的样品的地形变化的至少一个以及样品的材料性质的第二组分。 该方法还包括基于由传感器产生的数据信号的第一分量来产生使用处理器的补偿信号; 并向致动器提供补偿信号。
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公开(公告)号：US20110289635A1
公开(公告)日：2011-11-24
申请号：US12785840
申请日：2010-05-24
IPC分类号： G01Q10/00
CPC分类号： G01Q10/065
摘要： A method includes generating, using a sensor, a data signal. The data signal includes a first component based on a motion in a first direction of an actuator configured to provide motion between a sample and a probe in the first direction, the first direction substantially in the plane of the sample; and a second component based on at least one of topographic variations of the sample in a second direction, and a materials property of the sample. The method further includes generating, using a processor, a compensatory signal based on the first component of the data signal generated by the sensor; and providing the compensatory signal to the actuator.
摘要翻译： 一种方法包括使用传感器生成数据信号。 数据信号包括基于致动器的第一方向上的运动的第一部件，所述致动器的第一方向被配置为在第一方向上提供样品和探针之间的运动，所述第一方向基本上在样品的平面中; 以及基于第二方向上的样品的地形变化的至少一个以及样品的材料性质的第二组分。 该方法还包括基于由传感器产生的数据信号的第一分量来产生使用处理器的补偿信号; 并向致动器提供补偿信号。
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公开(公告)号：US06661004B2
公开(公告)日：2003-12-09
申请号：US09789992
申请日：2001-02-21
IPC分类号： G01N1316
CPC分类号： G06T5/003 , G01Q30/06 , G01Q40/00 , G06T5/30 , G06T2207/10056 , Y10S977/85 , Y10S977/863 , Y10S977/875 , Y10S977/881
摘要： An apparatus and method are provided for processing the images obtained from an atomic force microscopy when profiling high aspect ratio features. A deconvolution technique for deconvolving the sample image includes the use of multiple images but does not require exact calibration of the scanning probe. In one embodiment, erosion and dilation techniques are used to obtain an undistorted image of the sample being measured. In another embodiment, Legendre transforms are used to obtain an undistorted image of the sample being measured. Also described is a technique for measuring the tip radius of the scanning probe.
摘要翻译： 提供了一种装置和方法，用于在分析高纵横比特征时处理从原子力显微镜获得的图像。 用于对样本图像进行去卷积的去卷积技术包括使用多个图像，但不需要精确校准扫描探针。 在一个实施例中，使用侵蚀和扩张技术来获得待测样品的未失真图像。 在另一个实施例中，使用勒让德变换来获得待测样品的未失真图像。 还描述了一种用于测量扫描探针的尖端半径的技术。
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公开(公告)号：US06489611B1
公开(公告)日：2002-12-03
申请号：US09410123
申请日：1999-09-30
IPC分类号： G01N1316
CPC分类号： G01Q10/06 , G01Q40/00 , Y10S977/851 , Y10S977/881
摘要： Apparatus and methods are provided for using atomic force microscopy for profiling high aspect ratio features. Probe landing techniques include scanning prior to bringing the probe into contact with the feature. In one embodiment, the probe assembly cantilever is brought into contact with the feature and subsequent scanning is used to locate the feature with the probe. In another embodiment, the probe is moved in a scanning pattern in progressively lower horizontal planes until the probe contacts the sample feature. Also described is a deconvolution technique for deconvolving the sample image and a technique for measuring the tip radius of the feature.
摘要翻译： 提供了使用原子力显微镜分析高纵横比特征的装置和方法。 探头着陆技术包括在使探头与特征接触之前进行扫描。 在一个实施例中，探针组件悬臂与特征接触，并且随后的扫描用于利用探针定位特征。 在另一个实施例中，探针以逐渐下降的水平面以扫描图案移动，直到探针接触样本特征。 还描述了用于对样本图像进行去卷积的去卷积技术和用于测量特征的尖端半径的技术。
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7.发明授权
公开(公告)号：US4761588A
公开(公告)日：1988-08-02
申请号：US938533
申请日：1986-12-05
申请人： Kamal Youcef-Toumi , Paul I. H. Ro
发明人： Kamal Youcef-Toumi , Paul I. H. Ro
CPC分类号： G05B19/39
摘要： A dual-drive system compensates for the effects of drive system nonlinearities for micro-manipulation of direct-drive robotic systems. The dual-drive system uses two actuators to drive a single manipulator joint. The extra actuator compensates for undesirable effects of the nonlinearities in the drive system by providing a correctional biasing force such as torque to the primary actuator. In a preferred embodiment, both actuators are DC motors and the biasing torque is modulated by monitoring the current in the primary motor winding. This torque monitoring can also be achieved by direct measurement, such as using a strain sensing element. The dual-drive system is capable of eliminating the effects of electromagnetic hysteresis and other nonlinearities in the amplifier-motor portion of a direct-drive robot arm. This system can be used to improve not only positioning performance, but also the dynamic manipulation of a robot manipulator.
摘要翻译： 双驱动系统补偿了驱动系统非线性对直接驱动机器人系统微操作的影响。 双驱动系统使用两个执行器来驱动单个操纵器接头。 额外的致动器通过向主致动器提供诸如扭矩的校正偏置力来补偿驱动系统中的非线性的不期望的影响。 在优选实施例中，两个致动器都是直流电动机，并且通过监测主电动机绕组中的电流来调制偏置转矩。 该转矩监测还可以通过直接测量来实现，例如使用应变感测元件。 双驱动系统能够消除直接驱动机器人臂的放大器 - 电动机部分中的电磁滞后和其它非线性的影响。 该系统不仅可以用于提高定位性能，还可以提高机器人操纵器的动态操作。
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公开(公告)号：US08820143B2
公开(公告)日：2014-09-02
申请号：US13082730
申请日：2011-04-08
申请人： Sanjay E. Sarma , Kamal Youcef-Toumi , Stephen Sai-Wung Ho , Dimitrios Chatzigeorgiou , Rached Ben Mansour
发明人： Sanjay E. Sarma , Kamal Youcef-Toumi , Stephen Sai-Wung Ho , Dimitrios Chatzigeorgiou , Rached Ben Mansour
IPC分类号： G01M3/28
CPC分类号： G01M3/2815 , G01M3/2807
摘要： The system includes structure for supporting at least one tube within a pipe. The tube has one end disposed close to, or in contact with, a wall of the pipe. A sensor is disposed within the at least one tube to detect a pressure gradient or fluid movement within the tube. Such pressure gradient or fluid movement indicates a leak in the pipe adjacent to the tube location. In a preferred embodiment, the structure is a ring sized to fit within the pipe and the ring supports a plurality of tubes. In another aspect, the tube includes a restriction to prevent flow and pressure is measured on each side of the restriction.
摘要翻译： 该系统包括用于支撑管内的至少一个管的结构。 管的一端设置成与管的壁接近或接触。 传感器设置在至少一个管内，以检测管内的压力梯度或流体运动。 这种压力梯度或流体移动表示管道中与管位置相邻的泄漏。 在优选实施例中，该结构是尺寸适于装配在管内且环支撑多个管的环。 在另一方面，管包括限制以防止在限制的每一侧测量流动和压力。
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公开(公告)号：US08818723B2
公开(公告)日：2014-08-26
申请号：US13594962
申请日：2012-08-27
申请人： Andreas Schuh , Kamal Youcef-Toumi
发明人： Andreas Schuh , Kamal Youcef-Toumi
IPC分类号： G01S17/06
CPC分类号： G01S17/875 , G01S5/16 , G01S17/42
摘要： Localization and tracking system. The system includes at least one laser mounted for pointing its beam at arbitrary locations within a three-dimensional space. An object within the three-dimensional space supports a screen at its top for receiving the laser beam to create a shaped image on the screen. The shaped image on the screen is observed by a camera and computing apparatus determines the location of the object in the three-dimensional space from pointing parameters of the laser and from shape and center points of the shaped image on the screen.
摘要翻译： 本地化跟踪系统 该系统包括至少一个激光器，用于将其光束指向三维空间内的任意位置。 三维空间内的物体在其顶部支撑屏幕，用于接收激光束以在屏幕上创建成形图像。 通过照相机观察屏幕上的成像图像，并且计算装置从激光的指示参数以及屏幕上的成形图像的形状和中心点确定三维空间中的对象的位置。
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公开(公告)号：US08795572B2
公开(公告)日：2014-08-05
申请号：US12425624
申请日：2009-04-17
IPC分类号： B29C59/00
CPC分类号： G03F7/0002 , B82Y10/00 , B82Y40/00
摘要： A stamping structure for imprinting micro-sized features is provided. The stamping structure includes one or more optical flats. A flexure arrangement includes a plurality of beam flexures arranged in a symmetric configuration around the one or more optical flats so as to minimize the error yaw motion (θz) from thermal fluctuations associated with fixturing the one or more optical flats.
摘要翻译： 提供了压印微尺寸特征的冲压结构。 冲压结构包括一个或多个光学平面。 挠曲装置包括围绕所述一个或多个光学平面布置成对称构型的多个光束弯曲部，以便最小化与固定所述一个或多个光学平面相关联的热波动的误差偏移运动（＆amp; z）。
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