Georgia Tech Research Corporation

Maxtor Corporation

Kok-Meng Lee

Tsang-Long Pao

Robert S Blenis

Lin Guo

Stephen Lang Dickerson

Harry Douglas Garner, Jr

A system and method for transferring live objects, such as chickens, to a shackle line are presented. The system and method include introducing a plurality of live objects to a singulator. The singulator isolates the individual live objects and places them in a pallet on a conveyor. The system may detect and remove cadavers from amongst the live objects. The conveyor leads the live objects to a grasper. The grasper positions the legs of the live objects so that a shackler can secure the legs of the live objects with a shackle. The live objects and the shackle are then inverted and passed on to a shackle line. The shackle line may be a kill line buffer or a kill line.

Automated feet-gripping system

Automated transfer of live objects to shackle line method and apparatus

An apparatus for directly measuring an angular displacement of an actuator arm relative to a reference position is disclosed, wherein the actuator arm is rotatable about a fixed axis. The apparatus includes a reflection-type diffraction grating, a light source, a transmission-type diffraction grating and a detector. The reflection-type diffraction grating is mounted on the actuator arm. The light source emits a generally rectangularly-shaped laser beam that is aligned to strike the reflection-type diffraction grating to produce reflected beams. The transmission-type diffraction grating, through which the reflected beams pass, causes the reflected beams to converge and form an interference pattern. The detector is positioned to detect the interference pattern and generate a signal representative of the angular displacement of the actuator arm relative to the reference position. A method of directly measuring an angular displacement of an actuator arm relative to a reference position is also disclosed, wherein the actuator arm is rotatable about a fixed axis. The method includes the steps of: (1) providing a reflection-type diffraction grating which is mounted on the actuator arm, the actuator arm being located at a reference position; (2) directing a generally rectangularly-shaped laser beam to strike the reflection-type diffraction grating to produce reflected beams; (3) positioning a transmission-type diffraction grating, through which the reflected beams pass, which causes the reflected beams to converge; (4) positioning a detector to detect an inference pattern created by the converged beams; (5) determining the phase of the interference pattern; (6) moving the actuator arm to a second position, wherein a second interference pattern is generated; and, (7) computing the phase difference between the second interference pattern and that of the interference pattern generated at the actuator arm's reference position.

Method and apparatus for measuring angular displacement of an actuator arm relative to a reference position

A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18) . A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) my be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80). Finally, a video controller (106) can be interfaced with the vision system (80) for converting digital image data in real time to analog image data conforming to the (RS-170 television standard for viewing on a display device (116).

Real-time vision system and control algorithm for a spherical motor

A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18). A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) may be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80). Finally, a video controller (106) can be interfaced with the vision system (80) for converting digital image data in real time to analog image data conforming to the RS-170 television standard for viewing on a display device (116).

Spherical motor and method

System and method for controlling a variable reluctance spherical motor

Orientation sensing system and method for a spherical body

An image reading system observes a field of view and forms electrical signals indicating the presence of objects within the field as to location and movement. After ascertaining the area of the field in which an object is located, the system is speeded up by reading signals outside the area at a high rate of speed and those inside the area at a normal rate of speed.

Growing community of inventors

Marietta, GA, United States of America

Kok-Meng Lee