Kinetic Sciences Inc.

Other

Her Majesty the Queen in Right of Canada, As Represented by the Minister

Macdonald, Dettwiler and Associates Corporation

Guy Broer Immega

Geoffrey Edward Vanderkooy

Keith Borthwick Antonelli

Timothy Vlaar

Peter D Lawrence

Glenn H Chapman

Mirko Kukolj

Juliusz J Grodski

A fingerprint optical input apparatus comprises a contact image sensor for viewing a moving finger and providing a high contrast image. A narrow strip of the fingerprint touching a transparent platen is illuminated by sheet of collimated light normal to or at an oblique angle to the surface. The fingerprint image is viewed at an oblique angle by partially scattered light or by frustrated total internal reflection by a GRIN rod lens array and projected onto a linear array sensor. Various embodiments of the platen provide a compact design by using TIR or mirror reflections of the fingerprint image.

Fingerprint image optical input apparatus

A fingerprint optical input apparatus comprises a contact image sensor for viewing a moving finger and providing a high contrast image. A narrow strip of the fingerprint touching a transparent platen is illuminated by sheet of collimated light at an oblique angle to the surface. The fingerprint image is viewed by frustrated total internal reflection by a GRIN rod lens array and projected onto a linear array sensor. Various embodiments of the platen provide a compact design by using TIR or mirror reflections of the fingerprint image.

A first linear sensor array produces, at a first time of occurrence, a first image of a segment of an object as the object moves across the sensor at a variable speed. The image and its time of occurrence are accumulated in a buffer. As the object continues to move across the sensor, a successive plurality of the segment images seen by the first sensor are accumulated in the buffer, together with their respective times of occurrence. A second linear sensor array spaced a distance d from the first array produces, at a second time of occurrence, a second image of another segment of the moving object. The second image is compared with the accumulated first images to determine which of the accumulated first images is most similar to the second image. The object's speed S can then be estimated as an appropriately weighted function of d/(t.sub.j -t.sub.m) [i.e. S.varies.d/(t.sub.j -t.sub.m)], where t.sub.j is the time of occurrence of a selected one of the second images and t.sub.m is the time of occurrence of the first image most similar to the selected second image. By continually monitoring the object's speed in this fashion, one may select and transfer into an image buffer those image segments which together form the highest quality image of the object, independently of the object's speed of motion past the sensor and without the need for expensive, bulky stepper motors, mechanical motion encoders, or the like.

Linear sensor imaging method and apparatus

A vision system and proximity detector is provided in the form of an occluding mask with multiple high aspect light pathways positioned over a light detecting surface. Pixel-based images can be generated to provide a vision system utilizing a variety of illumination modes. Proximity can be measured with a triangulating beam.

Vision system and proximity detector

A tentacle-like manipulator has a resiliently longitudinally extensible, laterally bendable elongate member, e.g. an inflatable bellows or a helical compression spring-like member, with an end effector mounting on one end thereof. Tendon-like tension members extend along said elongate member and are spaced apart from one another around said elongate member, one end of each of said tension members being to said elongate member at said one end thereof. Guides spaced apart along and secured to said elongate member and slidably engage said tension members for guiding said tension members relative to said elongate member. Further tension members extend along only a portion of the length of the elongate member and are secured to the elongate member at a location intermediate the ends of the elongate member. Winches are used to wind and unwind the tension members to correspondingly control the length and the bending of the elongate member.

Tentacle-like manipulators with adjustable tension lines

A bellows actuator has at least one bellows chamber comprising at least three chamber segments arranged around an axis. Each of the chamber segments forms a radially outwardly extending protrusion comprising four chamber wall portions, which merge with one another along fold lines which extend peripherally and radially of the bellows chamber and converge radially outwardly to meet at radially outermost apexes of the chamber segments. The bellows actuator is expansible and contractible along the axis by flexure of the wall portions relative to one another about the fold lines in response to pressure changes within the bellows chamber.

Bellows actuator

It is the purpose of this invention to provide a method and apparatus for a compliance control in each degree of freedom of a robotic system independently of other control parameters. This independent compliance control capability allows dexterous assembly operations to be done without elaborate fixture of a work piece. The method of controlling compliance and position of an actuator comprises the steps of acquiring a raw Myoelectric signal from the muscles of a teleoperator, processing the raw Myoelectric signal into compliance control and position control signals and applying the control signal to an actuator(s) of the teleoperated robotic system.

Myoelectric control of actuators

An axially contractable actuator which includes an elongated hollow enclosure (14) formed by a fluid impermeable substantially non-elastic material and having a plurality of protrusions each with respective bases having more than three sides. Each base side (48) of a protrusion is attached to a base side (48) of an adjacent protrusion by a flexible seam of continuous fold (55). Each protrusion is foldable about a plane dividing the protrusion into two parts from an axially-extended condition in which the base sides are substantially parallel, to an axially-contracted condition in which the protrusion encloses a volume larger than that enclosed in the axially-extended condition. A pair of axially-aligned end terminations (18) are formed at each end of the enclosure with one of the end terminations being hollow. A pair of end connectors are each coupled to a respective end termination with one of the end connectors having an axial bore providing fluid communication between an interior of the hollow enclosure as a source of pressurized fluid.

Axially contractable actuator

A tension actuator suspension system is disclosed, providing control over the elevation of a load suspended from a reference system, as well as over the compliance of the suspension system. As employed in a vehicle suspension system, a preferred arrangement employs radially expansible, axially contractible tension actuators exhibiting tensile forces that decrease nonlinearly as each contracts. An antagonistic actuator pair is arranged in opposition between the chassis and each wheel of the vehicle. Air is supplied to the actuators from a compressor and accumulator by lines under the control of pressure regulator valves. Manual or automatic inputs allow the adjustment of both vehicle chassis elevation and suspension system compliance individually with respect to each wheel. Furthermore, automatic sensors are provided to detect roll, pitch, steering angle, vehicle velocity, wheel traction, braking forces and bumps experienced by the chassis and a microprocessor responds by producing the appropriate suspension system response. Ranging sensors are further employed to provide anticipatory response of the system to upcoming road surface variations.

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Vancouver, Canada

Guy Broer Immega