Mitsubishi Electric Research Laboratories, Inc.

Mitsubishi Electric Research Labs.

Mitsubishi Electric Corporation

William Yerazunis

Darren L Leigh

John C Barnwell, Iii

Paul H Dietz

Koon Hoo Teo

Bingnan Wang

Dirk Brinkman

Joseph M Katz

Chunjie Duan

Scott Bortoff

Alan Sullivan

Abraham Goldsmith

Vijay Shilpiekandula

William T Freeman

Daniel Nikolaev Nikovski

Avishai Weiss

Da Huang

Vishwanath Iyer

Erin Solomon

Scott Jordan

Walter A Hiatt

Wojciech Matusik

Petros T Boufounos

Zafer Sahinoglu

William T Vetterling

Jonathan Le Roux

John R Hershey

David C Reynolds

Ravi Sundaram

Devesh Jha

Diego Romeres

Dan J Burns

Giovanni Vannucci

Laurent Daudet

Andrew H Carlson

Michael Thomas Walterman

Joshua Midgal

Jonathan Westhues

Dermot Diamond

John Barnwell

Kuan-Chuan Peng

Brian Lee

Aleef Mahmud

Richard Cottrell

Parthasarathi Ainampudi

James McAleenan

Nakul Gopalan

Joshua N Migdal

Max P Bajracharya

King Tong Lau

Curtis A Wickman

Roderick L Shepherd

Marco S Carbone

Chuizheng Kong

Systems and methods having a touchless operating panel with buttons and an electronic circuit (EC). The system including a proximity sensor (PS) associated with an associated button and positioned proximate thereto. The PS arranged to generate a button detection zone around the associated button and detect a presence within the button detection zone. When the PS detects a presence of an object within the button detection zone in a time period, the EC receives proximity values about the detection from the PS. The EC detects if activation of the PS is intentional or unintentional, based on inputting into an activation assessment module, the received proximity values and any other proximity values received from one or more other PSs. When a detection is made that the PS is intentionally activated regarding the presence of the object within the button detection zone. The EC generates and emits a command action.

Touchless elevator user interface

Systems, methods and devices for real-time contactless elevator service operation of an elevator includes a trained neural network (TNN) model. The TNN model is trained using a training processor with augmented datasets as a synthetic training dataset, to later perform elevator identifier recognition. The augmented data sets are generated from synthetic text images, the synthetic text images are augmented with different geometrical parameters and visual parameters to a predetermined number of variations in appearance to a set of training elevator identifiers. A camera captures a user image. A text image portion from the user image is extracted using the TNN model, and detects an elevator identifier in the extracted text image portion using the extracted text image portion and the TNN model. The detected elevator identifier is displayed for user confirmation or user cancellation, and upon user confirmation, generates a control command based the detected elevator identifier associated with an elevator service.

Contactless elevator service for an elevator based on augmented datasets

A soft gripper including tentacles, each tentacle includes lower and upper members connected by a connector. Each member includes guide discs, and each guide disc includes a ring with passthrough holes, and a spacer located in a donut hole of the ring with passthrough holes, the passthrough holes collectively define cable pathways. The connector includes a center thru-hole and transfer channels. Cables have proximal ends attached to actuators and extend through apertures of a baseplate located at a proximal end of the lower member. A set of lower cables extend through the lower ring passthrough holes to couple to a distal lower guide disc. A set of upper cables extend through the lower spacer passthrough holes, through the transfer channels to the upper ring passthrough holes to couple to a distal upper guide ring, and an end cap is attached to the distal end of the upper member.

Soft robotic tentacle gripper

A robot for performing an assembly operation is provided. The robot comprises a processor configured to determine a control law for controlling a plurality of motors of the robot to move a robotic arm according to an original trajectory, execute a self-exploration program to produce training data indicative of a space of the original trajectory, and learn, using the training data, a non-linear compliant control law including a non-linear mapping that maps measurements of a force sensor of the robot to a direction of corrections to the original trajectory defining the control law. The processor transforms the original trajectory according to a new goal pose to produce a transformed trajectory, update the control law according to the transformed trajectory to produce the updated control law, and command the plurality of motors to control the robotic arm according to the updated control law corrected with the compliance control law.

System and method for robotic assembly based on adaptive compliance

A gripper system having tentacles including a control system configured to receive operator data and sensor data. Compare stored object configurations associated with grips to identify a corresponding set of object configurations using a target object shape and a pose via sensor data and select an object configuration. Compare stored commands to identify sets of commands corresponding to the object configuration and select sets of commands. If a set of pickup actions are received, compare to the corresponding object configuration to identify a set of pickup actions using the received set of pickup actions, and select a set of pickup actions. Compare the sets of commands to identify a corresponding first set of commands corresponding to a set of pickup actions using the set of pickup actions and select the first set of commands. If the received set of pickup actions are absent, then select a second set of commands.

Multi-tentacular soft robotic grippers

A tactile sensor including a camera positioned to capture images of marks. An elastically deformable skin including an outer surface having attributes and an undersurface having pins, ridges, or both. Each undersurface pin or ridge includes a mark. A processor detects displacement of the marks in captured images and compares the displaced positions of the marks in the captured images to stored sets of prelearned positions of marks, based on a distance function, to determine a quality of match value for each set of the prelearned positions of marks. A best quality matched prelearned pattern of forces is determined using a user selected function, to calculate a best matching set of the prelearned positions of marks. Identify a pattern of forces acting on the elastically deformable skin based on the determined best matched prelearned pattern of forces.

Elastomeric tactile sensor

A control system for controlling an operation of an elevator arranged to service different floors of a building, is disclosed. The control system comprises an input interface configured to receive a measurement of a distance metric to an object located at a service floor in a line-of-sight of a sensor; an output interface configured to cause a display device to display a floor value indicating a destination floor; and a processor configured to compare the received distance metric with a referenced distance metric to estimate a sign of the comparison and a value of the comparison; repeatedly update, until a termination condition is met, the floor value displayed on the display device in a direction of the elevator service indicated by the sign and with a frequency of the update indicated by the value; and cause the elevator to perform the service operation from the service floor to the destination floor.

Method and system for touchless elevator control

A tactile sensor including a cap having a top surface and an undersurface. The undersurface includes pins, each pin has a mark. A portion of the undersurface is attachable to a device. A camera positioned in view of the marks, captures images of the marks placed in motion by elastic deformation of the top surface of the cap. A processor receives the captured images and determines a set of relative positions of the marks in the captured images, by identifying measured image coordinates of locations in images of the captured images. Determine a net force tensor acting on the top surface using a stored machine vision algorithm, by matching the set of relative positions of the marks to a stored set of previously learned relative positions of the marks placed in motion. Control the device via a controller in response to the net force tensor determined in the processor.

Tactile sensor

Resin formulation including: a mixture of low volatility oligomers is about 40% to 75% weight of the resin formulation; a plasticizer is about 25% to 55% by weight of the resin formulation; a photoinitiator is about 0.1% to 3.0% by weight of the resin formulation; a thermal inhibitor is about 0.001% to 4% by weight of the resin formulation; and a defoaming agent is about 0.0001% to 0.1% by weight of the resin formulation. Wherein the mixture of low volatility oligomers is combined with the photoinitiator, the thermal inhibitor and the defoaming agent, and mixed, then degassed at a temperature of about 60 deg C. and at a pressure of less than 10 kPa for at least 10 minutes.

On-orbit additive manufacturing of parabolic reflectors via solar photopolymerization

A robot gripper includes two fingers of a grasper assembly configured to perform grasping motions via actuation of independent cable ends of a plurality of cables, and configured to move toward or away from each other to perform the grasping motion. Wherein each gripper finger is actuated by a pair of cables, a cable of the pair slides in a flexible sheath when actuated by a motor, moving the gripper finger in an opposite direction of another cable of the pair also in a flexible sheath, providing equal motions of each cable in the pair in opposite directions. A motor assembly including the motors is mounted at a location separate from the grasper assembly with the flexible sheathing extending between the assemblies. Such that the separate assembly mounting arrangement provides an improved ratio between a gripping force of the grippers versus the robot-lifted mass of the grasper assembly.

Dexterous gripper for robotic end-effector applications

A system and method depositing metal to form a three-dimensional (3D) part on a substrate. A wire is moved relative to a location on the substrate while a laser heats a proximal end of the wire at the location using a laser beam. The laser causes the wire and substrate to reach a melting point of the wire to fuse the wire at the location on the substrate. The wire can be preheated by passing a current through the wire.

System and method for depositing a metal to form a three-dimensional part

Spacecraft including a spacecraft bus. An additive manufacturing system of the spacecraft bus including at least one extruder for delivering feedstock to print an object outside of the spacecraft bus. A sensor for determining a pose of the spacecraft bus relative to an astronomical body. At least one processor in communication with the additive manufacturing system and the sensor, controls an operation of the additive manufacturing system as a function of the pose of the spacecraft bus, to manufacture the object outside of the spacecraft bus.

Systems and methods for on-orbit fabrication of structures by 3D printing

A 5D printer, which additively manufactures an object, includes an extruder that can move linearly along three orthogonal axes and rotationally around at least one of the axes with respect to the object while depositing a material. A gantry is movable along X, Y and Z axes, and a trunnion table movable about A and B axes is mounted on the gantry. A platen is mounted on the trunnion table, and the extruder deposits the material on the platen while moving the gantry and trunnion table. A model of the object is analyzed to produce a stress tensor for the object, and the depositing is according to the stress tensor.

Method and apparatus for printing 3D objects using additive manufacturing and material extruder with translational and rotational axes

A system includes a first resonator coupled to an energy source and a second resonator located a distance from the first resonator and coupled to the first resonator to provide near-field wireless energy transfer between the first resonator and the second resonator. The first resonator and the second resonator are non-radiative structures having a resonant frequency. The system also includes an artificial magnetic conductor (AMC) having the resonant frequency and arranged within the system to shape the near-field of at least one of the first resonator and the second resonator. The AMC includes a layer of unit cells arranged in a periodic pattern enabling the AMC to reflect the near-field. Each unit cell of the AMC includes a plurality of electronic components.

Artificial magnetic structures for wireless power transfer

A method calibrates a laser processing machine by commanding a scan head to direct a laser beam to a desired position, then senses an actual position of the laser beam directly using a position sensitive detector (PSD) after the scan head is positioned. A relative position between the scan head and PSD is altered using one or more linear actuators. A position feedback loop is closed around the linear actuators so that the relative position of the laser beam on the PSD is reduced to zero. The actual position of the laser spot is then measured indirectly by encoders attached to linear axes of the laser processing machine. The actual position is stored in a memory. An error is determined as a difference between the desired position and the actual position. Compensation coefficients are determined from the error and stored for later use during operation of the laser processing machine.

System and method for calibrating laser processing machines

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Acton, MA, United States of America

William Yerazunis