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1. 发明授权

US08513906B2 Base vibration attenuation and load tracking in mechanical systems 有权
标题翻译：机械系统中的基本振动衰减和负载跟踪
公开(公告)号：US08513906B2
公开(公告)日：2013-08-20
申请号：US13215339
申请日：2011-08-23
申请人： Vijay Shilpiekandula , Scott A. Bortoff
发明人： Vijay Shilpiekandula , Scott A. Bortoff
IPC分类号： H02P5/50 , H02K33/00 , G05B1/06
CPC分类号： G05B13/04 , G05D19/02
摘要： A hybrid controller for a mechanical system includes an actuator configured to position a load. A vibration attenuation controller produces a vibration attenuation control signal in response to an input signal for the mechanical system. A tracking controller configured produces a tracking control signal in response to the input signal. In response to an output signal from the mechanical system, either the vibration attenuation control signal or the tracking control signal is switched as a control signal for the mechanical system to reduce both vibration in the mechanical system and improve tracking the load.
摘要翻译：用于机械系统的混合控制器包括构造成定位负载的致动器。振动衰减控制器响应于机械系统的输入信号产生振动衰减控制信号。配置的跟踪控制器响应于输入信号产生跟踪控制信号。响应于来自机械系统的输出信号，振动衰减控制信号或跟踪控制信号被切换为机械系统的控制信号，以减少机械系统中的两个振动并改善跟踪负载。

2. 发明申请

US20120150324A1 Method for Solving Control Problems 有权
标题翻译：解决控制问题的方法
公开(公告)号：US20120150324A1
公开(公告)日：2012-06-14
申请号：US12962744
申请日：2010-12-08
申请人： Matthew Brand , Vijay Shilpiekandula , Scott A. Bortoff
发明人： Matthew Brand , Vijay Shilpiekandula , Scott A. Bortoff
IPC分类号： G05B13/04
CPC分类号： G05B13/048
摘要： A method solves a quadratic programming (QP) problem in real-time implementations of model predictive control for automation applications. The method can be implemented for fine-grained parallel solutions. Due to the extreme simplicity of the method, even serial implementations offer considerable speed advantages. The method solves the problem by formulating, over a predetermined time interval, an optimization problem with a quadratic cost function, and linear state and control constraints as a quadratic program for the application. Then, the quadratic program is solved by applying a parallel quadratic programming update law starting from a positive initial estimate to obtain control actions for the application.
摘要翻译：一种方法解决了自动化应用中模型预测控制的实时实现中的二次规划（QP）问题。该方法可以实现细粒度并行解决方案。由于该方法非常简单，即使串行实现也提供了相当快的优势。该方法通过在预定的时间间隔内通过二次成本函数，线性状态和控制约束作为应用程序的二次方案来制定问题。然后，通过应用从正初始估计开始的并行二次规划更新定律来求解二次程序，以获得应用的控制动作。

3. 发明授权

US09261872B2 System and method for controlling redundant actuators of a machine 有权
标题翻译：用于控制机器冗余执行器的系统和方法
公开(公告)号：US09261872B2
公开(公告)日：2016-02-16
申请号：US13354113
申请日：2012-01-19
申请人： Vijay Shilpiekandula , Scott A. Bortoff
发明人： Vijay Shilpiekandula , Scott A. Bortoff
IPC分类号： G05B19/19
CPC分类号： G05B19/19
摘要： A method controls redundant actuators of a machine based on a reference trajectory. The method determines a cost function representing operations of the redundant actuators and minimizes the cost function subject to constraints to produce a sequence of commands for each actuator. The redundant actuators are controlled according to the sequences of commands.
摘要翻译：一种方法基于参考轨迹控制机器的冗余执行器。该方法确定代表冗余致动器的操作的成本函数，并且将成本函数降到最小，成本函数受制于每个致动器产生一系列命令的约束。冗余执行器根据命令顺序进行控制。

4. 发明授权

US08554343B2 Method for solving control problems 有权
标题翻译：解决控制问题的方法
公开(公告)号：US08554343B2
公开(公告)日：2013-10-08
申请号：US12962744
申请日：2010-12-08
申请人： Matthew Brand , Vijay Shilpiekandula , Scott A Bortoff
发明人： Matthew Brand , Vijay Shilpiekandula , Scott A Bortoff
IPC分类号： G05B13/02
CPC分类号： G05B13/048
摘要： A method solves a quadratic programming (QP) problem in real-time implementations of model predictive control for automation applications. The method can be implemented for fine-grained parallel solutions. Due to the extreme simplicity of the method, even serial implementations offer considerable speed advantages. The method solves the problem by formulating, over a predetermined time interval, an optimization problem with a quadratic cost function, and linear state and control constraints as a quadratic program for the application. Then, the quadratic program is solved by applying a parallel quadratic programming update law starting from a positive initial estimate to obtain control actions for the application.
摘要翻译：一种方法解决了自动化应用中模型预测控制的实时实现中的二次规划（QP）问题。该方法可以实现细粒度并行解决方案。由于该方法非常简单，即使串行实现也提供了相当快的优势。该方法通过在预定的时间间隔内通过二次成本函数，线性状态和控制约束作为应用程序的二次方案来制定问题。然后，通过应用从正初始估计开始的并行二次规划更新定律来求解二次程序，以获得应用的控制动作。

5. 发明申请

US20120271464A1 Controller for Reducing Vibrations in Mechanical Systems 有权
标题翻译：用于减小机械系统振动的控制器
公开(公告)号：US20120271464A1
公开(公告)日：2012-10-25
申请号：US13093003
申请日：2011-04-25
申请人： Mouhacine Benosman , Vijay Shilpiekandula , Scott A. Bortoff
发明人： Mouhacine Benosman , Vijay Shilpiekandula , Scott A. Bortoff
IPC分类号： G05D19/02 , G05D17/02
CPC分类号： G05D19/02
摘要： Vibration in a mechanical system driven by a motor connected to a load is reduced by providing an angular position and an angular velocity of the motor to a linear feedback term and to a nonlinear feedback term. Outputs of the linear feedback term and the nonlinear feed term, and an optimal feedforward term determined off-line are summed to produce a summed signal, which is fed back to control a torque of the motor.
摘要翻译：通过将马达的角位置和角速度提供给线性反馈项和非线性反馈项来减少由连接到负载的马达驱动的机械系统中的振动。将线性反馈项和非线性进给项的输出以及离线确定的最优前馈项相加以产生一个求和信号，该信号被反馈以控制马达的转矩。

6. 发明授权

US08795572B2 Symmetric thermocentric flexure with minimal yaw error motion 有权
标题翻译：具有最小偏航误差运动的对称热弯曲
公开(公告)号：US08795572B2
公开(公告)日：2014-08-05
申请号：US12425624
申请日：2009-04-17
申请人： Vijay Shilpiekandula , Kamal Youcef-Toumi
发明人： Vijay Shilpiekandula , Kamal Youcef-Toumi
IPC分类号： B29C59/00
CPC分类号： G03F7/0002 , B82Y10/00 , B82Y40/00
摘要： A stamping structure for imprinting micro-sized features is provided. The stamping structure includes one or more optical flats. A flexure arrangement includes a plurality of beam flexures arranged in a symmetric configuration around the one or more optical flats so as to minimize the error yaw motion (θz) from thermal fluctuations associated with fixturing the one or more optical flats.
摘要翻译：提供了压印微尺寸特征的冲压结构。冲压结构包括一个或多个光学平面。挠曲装置包括围绕所述一个或多个光学平面布置成对称构型的多个光束弯曲部，以便最小化与固定所述一个或多个光学平面相关联的热波动的误差偏移运动（＆amp; z）。

7. 发明申请

US20130126275A1 Cabling Configuration for Railless Elevators 有权
标题翻译：无轨电梯的布线配置
公开(公告)号：US20130126275A1
公开(公告)日：2013-05-23
申请号：US13298467
申请日：2011-11-17
申请人： Vijay Shilpiekandula , William Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Joseph Katz
发明人： Vijay Shilpiekandula , William Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Joseph Katz
IPC分类号： B66B11/08 , B23P11/00
CPC分类号： B66B11/008 , B66B7/06 , B66B11/02 , Y10T29/49826
摘要： An elevator including a car is arranged in a shaft. A set of compensator cables are attached to a bottom of the car and engaged with a compensator drum. A set of hoist cables are attached to a top of the car and engaged with a hoist drum to move the car vertically in the shaft, wherein the set of compensator cables and the set of hoist cables are configured to only move the car vertically.
摘要翻译：包括轿厢的电梯布置在轴上。一组补偿电缆连接到汽车的底部并与补偿鼓接合。一组起重电缆连接到汽车的顶部并与起重机滚筒相接合，使轿厢在轴上垂直移动，其中，一组补偿电缆和一组起重电缆被构造成仅使轿厢垂直移动。

8. 发明申请

US20130119027A1 Laser Cutting Machine 有权
标题翻译：激光切割机
公开(公告)号：US20130119027A1
公开(公告)日：2013-05-16
申请号：US13294096
申请日：2011-11-10
申请人： William S. Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Vijay Shilpiekandula , Abraham Goldsmith
发明人： William S. Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Vijay Shilpiekandula , Abraham Goldsmith
IPC分类号： B23K26/00
CPC分类号： B23K26/08 , B23K26/082 , B23K26/0876 , B23K26/38
摘要： A laser cutting machine includes a platform and a motion system. The motion system includes a first prismatic joint facilitating a first motion of the platform along a first direction and a second prismatic joint facilitating a second motion of the platform along a second direction. A galvano arranged on the platform, such that a motion of the platform causes a motion of the galvano, the galvano including a first mirror, wherein a third motion of the first mirror positions the laser beam along a third direction, and a second minor, wherein a fourth motion of the second mirror positions the laser beam along a fourth direction. A control module controls concurrently the motion system and the galvano, such that a position of the laser beam on the workpiece is a vector sum of the first motion, the second motion, the third motion, and the fourth motion.
摘要翻译：激光切割机包括平台和运动系统。该运动系统包括一个便于平台沿着第一方向的第一运动的第一棱柱形接头，以及有助于平台沿着第二方向进行第二运动的第二棱柱形接头。布置在平台上的电流体使得平台的运动引起电流体的运动，电流体包括第一反射镜，其中第一反射镜的第三运动沿着第三方向定位激光束，其中所述第二反射镜的第四运动沿着第四方向定位所述激光束。控制模块同时控制运动系统和电流，使得激光束在工件上的位置是第一运动，第二运动，第三运动和第四运动的矢量和。

9. 发明授权

US08390233B2 High resolution flexural stage for in-plane position and out-of-plane pitch/roll alignment 有权
标题翻译：用于平面内位置和平面外俯仰/滚动对准的高分辨率弯曲平台
公开(公告)号：US08390233B2
公开(公告)日：2013-03-05
申请号：US12628365
申请日：2009-12-01
申请人： Vijay Shilpiekandula , Kamal Youcef-Toumi
发明人： Vijay Shilpiekandula , Kamal Youcef-Toumi
IPC分类号： G05B11/01
CPC分类号： G03F7/0002 , B82Y10/00 , B82Y40/00 , G03F7/70725 , G03F7/70758 , G03F9/7042 , G03F9/7053
摘要： An adjustment structure used in conjunction with an imprinting structure is provided. The adjustment structure includes a sample mount for mounting a sample. An actuator mechanism is coupled to the sample mount, the actuator mechanism producing actuated forces on a X-Y plane to produce movements on a sample mount. A plurality of bladed flexures are positioned on the sample mount. The bladed flexures controls the movements of the sample mount produced by the actuator mechanism so as to allow adjustments in angular alignment about the pitch-roll (θX-θY) rotation axes or the X-Y plane relative to the sample mount so the imprinting structure can perform its operations on the sample.
摘要翻译：提供了与压印结构一起使用的调整结构。调整结构包括用于安装样品的样品座。致动器机构联接到样品架上，致动器机构在X-Y平面上产生致动力，以在样品座上产生运动。多个叶片的挠曲件位于样品座上。叶片弯曲控制由致动器机构产生的样品座的运动，以便允许调整围绕俯仰辊（和轴; X轴和Y轴）或XY平面相对于样品座的角度对准，因此，压印结构可以对样品进行操作。

10. 发明授权

US08921734B2 Laser cutting machine 有权
标题翻译：激光切割机
公开(公告)号：US08921734B2
公开(公告)日：2014-12-30
申请号：US13294096
申请日：2011-11-10
申请人： William S. Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Vijay Shilpiekandula , Abraham Goldsmith
发明人： William S. Yerazunis , John C. Barnwell, III , Scott A. Bortoff , Vijay Shilpiekandula , Abraham Goldsmith
IPC分类号： B23K26/08 , B23K26/38
CPC分类号： B23K26/08 , B23K26/082 , B23K26/0876 , B23K26/38
摘要： A laser cutting machine includes a platform and a motion system. The motion system includes a first prismatic joint facilitating a first motion of the platform along a first direction and a second prismatic joint facilitating a second motion of the platform along a second direction. A galvano arranged on the platform, such that a motion of the platform causes a motion of the galvano, the galvano including a first mirror, wherein a third motion of the first mirror positions the laser beam along a third direction, and a second mirror, wherein a fourth motion of the second mirror positions the laser beam along a fourth direction. A control module controls concurrently the motion system and the galvano, such that a position of the laser beam on the workpiece is a vector sum of the first motion, the second motion, the third motion, and the fourth motion.
摘要翻译：激光切割机包括平台和运动系统。该运动系统包括一个便于平台沿着第一方向的第一运动的第一棱柱形接头，以及有助于平台沿着第二方向进行第二运动的第二棱柱形接头。布置在平台上的电流体，使得平台的运动导致电流体的运动，电流体包括第一反射镜，其中第一反射镜的第三运动沿着第三方向定位激光束，并且第二反射镜，其中所述第二反射镜的第四运动沿着第四方向定位所述激光束。控制模块同时控制运动系统和电流，使得激光束在工件上的位置是第一运动，第二运动，第三运动和第四运动的矢量和。

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