Liquid Robotics, Inc.

Asyst Technologies, Inc.

Graham Hine

Roger G Hine

Derek L Hine

William A Stutz

Kurt A F Kiesow, Iii

Kurt AF Kiesow

A float () suitable for use as a buoy or as a component for a wave-powered vehicle. The float () includes an upper member () whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable () suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member () near the front of the cross-section, at least one non-load-bearing member () behind the tensile member, and a polymeric jacket (). Wave-powered vehicles having a float (), a submerged swimmer () and a tether () connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means () for untwisting the tether; or a pressure-sensitive connection () which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

Method and apparatus for untwisting a tether of a water powered vehicle

Float for connection to a swimmer in a wave powered vehicle

Cable for connecting a float to a swimmer in a wave powered vehicle

A float () suitable for use as a buoy or as a component for a wave-powered vehicle. The float () includes an upper member () whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable () suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member () near the front of the cross-section, at least one non-load-bearing member () behind the tensile member, and a polymeric jacket (). Wave-powered vehicles having a float (), a submerged swimmer () and a tether () connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means for untwisting the tether; or a pressure-sensitive connection () which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

Wave power

A robot calibration system for calibration of a workpiece handling robot relative to a station. The workpiece handling robot includes a sensor mounted on an end effector. The robot calibration system also includes a target, which in coordination with the sensor, allows a control system to determine a center of the target. The target is a wafer in the shape of a disk. A pattern is on at least one side of the workpiece, preferably on a bottom side of the target. The pattern comprises alternating black and white areas. The workpiece handling robot is placed in front of the station which includes a cassette mounted thereon. The cassette has a support surface which supports the target. Once the z-height of the end effector is established with the end effector being in close proximity to a lowermost support surface of the cassette, the end effector proceeds to move in a search pattern searching the pattern for transition points from black to white areas. The control system stores these transition points and uses the transition points in an algorithmic equation to determine the center of the target. Once the center of the target has been identified, the control system knows the spacial relation between the robot and the station, and in particular the position of the workpieces at the station. The station may thereafter be loaded with workpieces and processed accordingly.

Self teaching robot

Growing community of inventors

Sunnyvale, CA, United States of America

Graham Hine