Bio-rad Laboratories, Inc.

Engineering Services Inc.

Manja Kircanski

Nenad M Kircanski

Amir Sadri

Neven Nikolic

Milija Timotijevic

Zhiliang Xu

Andrew A Goldenberg

Ananth Seshan

A system for controlling an ultrasonic transducer utilizes an indication of the relative phase of the voltage on the transducer and the current passing through the transducer to control the relative phase to a value that has been preselected to correspond to resonance of an electromechanical system that includes the ultrasonic transducer. In one example application, the system includes a waveform generator that produces an oscillating signal, and the frequency of the oscillating signal is adjustable under control of the control processor. The control processor adjusts the frequency of the oscillating signal according to a proportional control law at least some of the time, and according to a proportional-integral control law at least some of the time. The control processor may also control the amplitude of the oscillation of the ultrasonic transducer.

System and method for ultrasonic transducer control

Methods and apparatus for precise positioning of an object using linear actuators based on linear stepper motors operating in microstepping or full step mode, a control algorithm based on compensation table, and a calibration apparatus for obtaining the compensation table.

Method and apparatus for precise positioning of an object with linear stepper motors

The present invention provides a reconfigurable modular drive joint that can be used as the basis for building and configuring robotic and automated systems as an interconnected network of individual nodes, with each node representing a single modular joint. Each modular joint can be quickly set up in either a roll, pitch or yaw configuration. A large number of different robot structures can be built using a small number of the modular joints in any of these three configurations. The modules are equipped with quick-connect mechanisms so that a new robot structure can be assembled in a few minutes. A robot or other automated system assembled from such modular joints is a true reconfigurable and modular system. The control system is decentralized. Each modular joint is provided with its own built-in control system and electronics. The modular joints each include a motor and associated sensors. An embedded control system including a power amplifier for the motor, a sensor interface, microprocessor, and communication circuitry are provided. The only external connections to each module is a communication bus between the modules and the host computer and a power supply bus.

Reconfigurable modular joint and robots produced therefrom

Growing community of inventors

Toronto, Canada

Manja Kircanski