International Business Machines Corporation

Sherman S Wang

Peter M Will

George Arthur Folchi

Thomas H DiStefano

Mark A Johnson

Ralph L Hollis, Jr

Glenmore Lorraine Shelton, Jr

Michael A Wesley

Chao-Kong Chow

Chao-Ning Liu

Moshe M Zloof

A method and apparatus for format patterning magnetic recording media with servo-control patterns is disclosed herein. The method comprises the steps of printing the control pattern using a resist in liquid form onto the media material by conventional printing techniques. A layer of a thin metallic film is then deposited over the resist and uncovered substrate areas. The resist and its overlayered metal is then removed using a liftoff technique by dissolving the resist in its particular solvent. A control pattern of deposited metallic film remains in those non-resist areas. In the alternative, the process can also use an etching bath to create the servo control pattern.

Format patterning method for magnetic recording media

An apparatus for and method of characterizing an acoustic field, and particularly of visually characterizing the field. An acoustic receiving transducer means is moved to a plurality of predetermined coordinate and angular positions in the acoustic field, and for each such position an electrical signal indicative of a parameter of the acoustic field is stored in a memory. The information in the memory is selectively retrieved to activate an electronic display means, and to expose film if desired, to provide a visual 'map' of the acoustic field parameter detected.

Apparatus and method for characterizing an acoustic field

A computer-controlled-manipulator gripper with a set of three-degree-of-freedom force sensors on each finger having strain gauges and 90.degree. shift in orientation of the sensors includes an asymmetric, offset relationship of the location and orientation of analogous sensors on the two fingers in order to obtain different measurements from the two fingers.

Asymmetric six-degree-of-freedom force-transducer system for a

A mechanical manipulator which includes fingers under the control of a computer, antenna sensing means mounted on such fingers and extended and retracted from the fingers under the control of the computer, means for detecting the contact or proximity of the extended antenna sensing means with a workpiece, means responsive to the antenna sensing means for retracting the sensing means from interference with the workpiece and for adjusting the control of the fingers. The fingers are adapted for X, Y and Z linear motions and provides pitch, yaw and roll angular motion. The retractable antenna sensing means resembles a whisker which extends from the finger and makes contact with or approaches the workpiece. The antenna sensing means may include a retractable pneumatic back pressure sensor via the back pressure of a fluid in the supply, created when the fluid impinges on the workpiece. The retractable antenna whisker bends more readily than the rigid finger. Therefore, contact with an object will not cause displacement of the object as a rigid finger would. Computer logic circuits receive signals representing the displacement and positions of both the antenna sensing means as well as the manipulator fingers and coordinates both sets of signals to determine the orientation and position of the workpiece and the shape of the workpiece.

Computer controlled pneumatic retractable search sensor

A six degree of freedom force transducer is provided on a manipulator's hand and includes a plurality of I-beam modules having strain gauges on the flat surfaces of the thin legs of each I-beam for measuring the bending moments of each leg. According to one embodiment, a pair of strain gauges are located on each side of the leg, providing a total of four gauges in each leg. The end bells of each I-beam are adapted to be rigidly interconnected with either other I-beams, structural members of the manipulator fingers, the drive member for the manipulator, or to intermediate coupling blocks designed to rigidly interconnect I-beams. A plurality of I-beams and interconnecting blocks can be connected in various configurations to provide a determination by the strain gauges of the six components of forces and moments which are applied by forces and moments on the fingers of the manipulator system. The I-beams and interconnecting blocks are arranged in x-y-z orthogonal directions such that the structural stiffness is in the same order in different directions. The moment at each basic module can be measured by the voltage output of a bridge associated with the strain gauges. In this fashion, a determination of the position and orientation of an object in the manipulator's hand can be readily provided by a computer which solves the force and moment equilibrium equations associated with the I-beam strain gauges.

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Mohegan Lake, NY, United States of America

Sherman S Wang