Eaton-kenway, Inc.

Quantum Imaging, Inc.

Hk Systems, Inc.

Iontophoretics Corporation

James V Yardley

Gary L Whatcott

John A Petersen

Bryan A Bloomfield

Herman P Schutten

Vaughn W Guest

Joseph Zuercher

Rick S Mottes

L Bruce Christensen

Robert K Forman

Gale H Thorne

Charles D Becker

Alfonzo Zermeno

Harry Dell Foster

John Arthur Petersen

Bryan Alexander Bloomfield

Rick Samuel Mottes

Herman Peter Schutten

Gary Lavell Whatcott

Vaughn Williams Guest

Robert Kent Forman

An antimicrobial device which is adaptably affixable to a large variety of commercially available catheters. Preferably, the device employs a pair of metal ion emitting electrodes which are at least partially disposed within an insertion site of the catheter and which are pulsed with alternating potentials to electrolytically elute ions into surrounding tissue to build an antiseptic zone about the insertion site. The device comprises an insertion sleeve and associated jacket which is slidably affixable to the indwelling catheter and a self-contained battery power source and electronics unit. The unit supplies power for the electrolytic action and for electronics which time the period and width of potential signals for the electrolysis. Through alternate elution and deposition of ions back and forth between the electrodes, long term indwelling catheter efficacy is assured. Period activation also increases length of battery life. The electronic unit also has easily seen indicators which signal state of battery power. While this device is usable in most catheter procedures, its use is particularly applicable for long term indwelling catheter applications.

Antimicrobial device and methods for long-term catheters

Filmless photon imaging sensor plates and apparatus which are particularly effective in medical radiology and industrial applications including, but not limited to high resolution mammography. In combination, the sensor plates and apparatus provide rapid production of high resolution images which exhibit higher sensitivity and wider dynamic range than contemporary X-ray systems. Novel sensor plate structures provide images having attributes of increased sensitivity; dual plate design providing increased pixel read-out speed and differential dual energy image production; and electrically isolated segments by which a plurality of pixels are read concurrently to reduce overall image processing time. Generally, the plates employ a homogeneous photoconductive material such as amorphous selenium and are read by exposing each pixel sized area to a small diameter scanning light beam. Using light beam scanning, resulting plate design promises low cost manufacture of both sensor plates and associated apparatus. Novel application of electric fields during plate preparation, exposure and read-out provides improved sensor plate performance. A plurality of precisely-positioned light beams are scanned across the sensor through the use of a novel optical system employing an elongated light source disposed within a rotating drum, the drum being generally opaque with a helical transparent pattern which in combination with a series of lenses and a slit provides the plurality of precisely-positioned scanning light beams. By changing slit and beam widths, variable resolution operation is achieved.

Filmless photon imaging apparatus

An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. FIGS. 90, 91, 92, 93, and 94 provide a map showing relative orientation of the schematic circuits seen in FIGS. 90A-B, 91A-B, 92A-B, 93A-B, and 94A-B, respectively over paths marked by update markers which may be spaced well apart, such as fifty feet. Redundant measurement capability using inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation. The control system employs high frequency two-way data transmission and reception capability over the guidewires and via wireless communications. The same data rates and message formats are used in both guidewire and wireless communications systems. Substantially the same communications electronics are used for the central controller and each vehicle. Novel navigation and guidance algorithms are used to select and calculate a non-linear path to each next vehicle waypoint when the vehicle is operating in the autonomous mode. The non-linear path originates with an initial direction equal to the heading of the vehicle as it enters the path and a waypoint heading defined as part of the message received from the central control system which plans and controls travel of each vehicle in the system.

Downward compatible AGV system and methods

An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. Vehicle steering and control includes autonomous guidance and navigation of the vehicle over paths marked by update markers which may be spaced well apart, such as fifty feet. The control system employs high frequency two-way data transmission and reception capability over the guidewires and via wireless communications. The same data rates and message formats are used in both guidewire and wireless communications systems. Substantially the same communications electronics are used for the central controller and each vehicle. Novel navigation and guidance algorithms are used to select and calculate a non-linear path to each next vehicle waypoint when the vehicle is operating in the autonomous mode. The non-linear path orginates with an initial direction equal to the heading of the vehicle as it enters the path and a waypoint heading defined as part of the message received from the central control system which plans and controls travel of each vehicle in the system.

An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. Autonomous vehicle navigation comprises travel over paths marked by update markers which may be spaced well apart, such as fifty feet Redundant measurement capability comprising inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation. The control system comprises high frequency two-way data transmission and reception capability over the guidewires and via wireless communications The same data rates and message formats are used in both communications systems. Substantially the same communications electronics are used for the central controller and each vehicle. Novel navigation and guidance algorithms are used to select and calculate a non-linear path to each next vehicle waypoint when the vehicle is operating in the autonomous mode. The non-linear path comprises an initial direction equal to the heading of the vehicle as it enters the path and a waypoint heading defined as part of the message received from the central control system which plans and controls travel of each vehicle in the system.

An improved accuracy position and direction updating system for use with an automatic guided vehicle that navigates by dead reckoning. Permanent magnets providing detectable position indicators are mounted in the floor and may be at widely spaced locations such as fifty feet apart along the route of the vehicle. A row of Hall sensors is transversely mounted on the vehicle. The sensors detect the lateral location of each floor magnet relative to the vehicle as the vehicle passes over the magnet. Sensors are precalibrated, correcting for errors in sensor null voltage readings due to changes in sensor characteristics due to causes comprising aging and temperature. Data from five sensors that are closest to the magnet are correlated with a stored pattern of magnetic field and their position data are averaged to determine a first estimate of the lateral or first dimensional position of the vehicle. A running average is calculated from sequentially acquired estimates to improve the results. Such precalibration and averaging provides an improved accuracy of the lateral or first dimensional position measurement between the array of Hall sensors and the magnet. A high frequency measurement of the time at which the signals from the row of sensors reaches a peak value, which is the time that the row of sensors arrives at the magnet, provides an improved second dimensional position measurement. More than one magnet is read concurrently to provide position and bearing information during one processing cycle.

Update marker system for navigation of an automatic guided vehicle

An improved accuracy position and direction updating system for use with an automatic guided vehicle that navigates by dead reckoning. Permanent magnets providing detectable position indicators are mounted in the floor and may be at widely spaced locations such as fifty feet apart along the route of the vehicle. A row of Hall sensors is transversely mounted on the vehicle. The sensors detect the lateral location of each floor magnet relative to the vehicle as the vehicle passes over the magnet. Sensors are precalibrated, correcting for errors in sensor null voltage readings due to changes in sensor characteristics due to causes comprising aging and temperature. Data from five sensors that are closest to the magnet are correlated with a stored pattern of magnetic field and their position data are averaged to determined a first estimate of the lateral or first dimensional position of the vehicle. A running average is calculated from sequentially acquired estimates to improve the results. Such precalibration and averaging provides an improved accuracy of the lateral or first dimensional position measurement between the array of Hall sensors and the magnet. A high frequency measurement of the time at which the signals from the row of sensors reaches a peak value, which is the time that the row of sensors arrives at the magnet, provides an improved second dimensional position measurement. More than one magnet is read concurrently to provide position and bearing information during one processing cycle.

Update marker system for naviagtion of an automatic guided vehicle

Apparatus for detecting and controlling the position of an automatic guided vehicle to enable precise positioning of the vehicle at a predetermined place such as a load pickup/delivery terminal. In one embodiment a mat having a passive short-circuited loop of wire embedded in it is positioned on the floor at the terminal. On the vehicle an oscillator and a transmitting antenna provide a primary magnetic field that excited the loop in the mat whenever the vehicle is in the terminal, inducing current in the loop. The current in the loop produces a secondary magnetic field having a predetermined spatial pattern. Receiving antennas on the vehicle detect the secondary magnetic field. Prior knowledge of the spatial pattern enables onboard electronic apparatus to ascertain the position of the vehicle relative to the mat. Both transverse and longitudinal position can be detected and controlled. The same on-board apparatus enables the vehicle to follow an energized guidewire in the floor between terminals. The vehicle can also navigate by dead reckoning between terminals.

Proportional position-sensing system for an automatic guided vehicle

A novel trailer towing apparatus for an AGV whereby downwardly applied, vertically oriented towing loads are substantially, directly imposed upon the drive wheels of the AGV, thereby increasing wheel to ground frictional forces and resulting towed load capacity. The towing apparatus is attached to the top of the AGV thereby allowing the AGV to turn through a 360.degree. radius without moving the trailer.

Automated guided vehicle top disposed towing apparatus

Apparatus for detecting an automatic guided vehicle's longitudinal position and to enable positioning of the vehicle at a load pickup/delivery terminal or other place. In one arrangement a mat having a passive short-circuited loop of wire embedded in it is positioned on the floor. On the vehicle an oscillator and a transmitting antenna provide a primary magnetic field that excites the loop in the mat, inducing current in the loop. The loop current produces a secondary magnetic field. Magnetic receiving antennas on the vehicle detect the secondary magnetic field that is caused by portions of the loop that cross the longitudinal axis of the vehicle. Onboard electronic apparatus ascertains and can control the longitudinal position of the vehicle relative to the mat. The same on-board apparatus enables the vehicle to detect a directly energized (connected to a power source) guidewire in the floor that lies across the vehicle's path between terminals and at terminals. The vehicle can also navigate between terminals by dead reckoning.

Growing community of inventors

Centerville, UT, United States of America

James V Yardley