Siemens Industrial Automation, Inc.

Comau S.p.a.

Other

Donald K Taylor

Carl H Russell, Iii

Richard J Maczka

A fluid injecting system for injecting fluid into soil is disclosed, the system comprising a tank for receiving and from which is discharged the fluid, mixing apparatus in the tank for mixing the fluid, a transfer pump in fluid communication with the mixing tank, a high pressure pump, the transfer pump in fluid communication with the high pressure pump for pumping fluid from the mixing tank to the high pressure pump, sequencing pumping apparatus for providing sequential charges of fluid to a nozzle apparatus, and nozzle apparatus with at least one nozzle through which fluid is injected into the soil, the sequencing pumping apparatus in fluid communication with the nozzle apparatus. In one aspect an accumulator accumulates a charge of fluid which is supplied to the nozzle apparatus. In one aspect the sequencing pumping apparatus includes a pneumatically controlled sequencing control valve which responds to precise pressure changes to control the duration of fluid pulses.

Soil injection system

An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficient to capture any residual motion of the robot. In addition, the RPT includes circuitry to detect when the external excitation signal is absent, to detect when individual invalid position samples may be taken and to distinguish between valid motion and a jitter condition in which the sensed resolver position oscillates between two quadrants.

Algorithm for optimizing data sampling in a discrete periodic system

Sampling bipolar peak detector for sensing a non-symmetrical decay of an

Open circuit detection for a pulsed resolver position sensing system

Method for optimizing sampling rates for position tracking for motion

Method for eliminating position tracking errors in the presence of

An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficeint to capture any residual motion of the robot. In addition, the RPT includes circuitry to detect when the external excitation signal is absent, to detect when individual invalid position samples may be taken and to distinguish between valid motion and a jitter condition in which the sensed resolver position oscillates between two quadrants.

Software controllable circuit for resolver excitation switching in a

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Piney Flats, TN, United States of America

Donald K Taylor