Electricity: measuring and testing – Fault detecting in electric circuits and of electric components – For fault location
Patent
1993-03-01
1996-01-09
Voeltz, Emanuel T.
Electricity: measuring and testing
Fault detecting in electric circuits and of electric components
For fault location
359292, 382195, 382206, 395 93, 395 94, G02B 2764
Patent
active
054831687
ABSTRACT:
The present invention relates to an optical system for creating a potential field map of a bounded two dimensional region containing a goal location and an arbitrary number of obstacles. The potential field mapping system has an imaging device and a processor. Two image writing modes are used by the imaging device, electron deposition and electron depletion. Patterns written in electron deposition mode appear black and expand. Patterns written in electron depletion mode are sharp and appear white. The generated image represents a robot's workspace. The imaging device under processor control then writes a goal location in the workspace using the electron deposition mode. The black image of the goal expands in the workspace. The processor stores the generated images, and uses them to generate a feedback pattern. The feedback pattern is written in the workspace by the imaging device in the electron deposition mode to enhance the expansion of the original goal pattern. After the feedback pattern is written, an obstacle pattern is written by the imaging device in the electron depletion mode to represent the obstacles in the robot's workspace. The processor compares a stored image to a previously stored image to determine a change therebetween. When no change occurs, the processor averages the stored images to produce the potential field map.
REFERENCES:
patent: 4958914 (1990-09-01), Owechko et al.
patent: 5020114 (1991-05-01), Fujioka et al.
patent: 5208750 (1993-05-01), Kurami et al.
patent: 5241481 (1993-08-01), Olsen
Latombe, Jean-Claude, "Chapter 7--Potential Field Methods," Robot Motion Planning, Kluwer Academic Publishers, Mass. (no month) (1991) pp. 295-341.
Peeso Thomas
The United States of America as represented by the Administrator
Voeltz Emanuel T.
Warsh Kenneth L.
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