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    Non-linear filter for delta modulator output using shift register and table lookup
    1.
    发明授权
    Non-linear filter for delta modulator output using shift register and table lookup 失效
    使用移位寄存器和表查找的Δ调制器输出的非线性滤波器

    公开(公告)号：US3916314A

    公开(公告)日：1975-10-28

    申请号：US45893674

    申请日：1974-04-08

    Applicant: IBM

    Inventor： FRANASZEK PETER A ,  GROSSMAN DAVID D ,  WILL PETER M

    IPC: H03M3/02 ,  H03K13/22

    CPC classification number: H03M3/022

    Abstract: The disclosed delta modulation decoding apparatus responds rapidly to sudden transitions of the delta-modulated signal but avoids excessive noise during periods of no transition. The decoder involves the use of a shift register which receives the incoming delta-modulated code bits and supplies data in parallel to two circuit branches, one containing a delta modulation decoder of any chosen type and the other circuit branch containing a state-responsive, non-linear filter or table, the respective outputs of these two branches being additively combined to provide the decoded and filtered output signal.

    Abstract translation: 所公开的增量调制解码装置快速响应增量调制信号的突变，但避免在无转换期间的过大噪声。 解码器涉及使用移位寄存器，其接收输入的增量调制码比特并且并行提供数据到两个电路分支，一个包含任何选择类型的增量调制解码器，另一个电路分支包含状态响应非 线性滤波器或表，这两个分支的相应输出被相加地组合以提供解码和滤波的输出信号。

    Object orienting device to assist robot manipulator
    2.
    发明授权
    Object orienting device to assist robot manipulator 失效
    物体定向装置，以协助机器人操纵器

    公开(公告)号：US3881605A

    公开(公告)日：1975-05-06

    申请号：US37529973

    申请日：1973-06-29

    Applicant: IBM

    Inventor： GROSSMAN DAVID D

    IPC: B25J19/02 ,  G06T1/00 ,  B25J9/00

    CPC classification number: G06T1/0014 ,  B25J19/021

    Abstract: A box having at least two sides and a base adjacent to one another and oriented at angles with respect to each of the others is disposed with the base planar surface inclined relative to the horizontal and vertical so that an object placed on the base will gravitate to the lowest point upon vibration of the box. A plurality of sensors may be provided in a predetermined pattern in the base adjacent the lowest point to provide a digital readout indicative of the final orientation of various objects which can be utilized to control a robot manipulator.

    Abstract translation: 具有至少两个侧面和彼此相邻并且相对于每个其他角度定向成角度的底座的箱子被设置成具有相对于水平和垂直方向倾斜的基部平面，使得放置在基部上的物体将被引向 箱子振动的最低点。 可以在邻近最低点的基座中以预定图案提供多个传感器，以提供指示可用于控制机器人操纵器的各种物体的最终取向的数字读数。

    GAIN METHOD AND APPARATUS FOR A DELTA MODULATOR
    4.
    发明专利
    GAIN METHOD AND APPARATUS FOR A DELTA MODULATOR 未知

    公开(公告)号：CA1077624A

    公开(公告)日：1980-05-13

    申请号：CA243982

    申请日：1976-01-21

    Applicant: IBM

    Inventor： CARRUBBA FRANCIS P ,  FRANASZEK PETER A ,  GROSSMAN DAVID D

    IPC: H03M3/02 ,  H04B14/06 ,  H03K13/22

    Abstract: GAIN METHOD AND APPARATUS FOR A DELTA MODULATOR In a delta modulator a sequence of code symbols are generated which are indicative of increments of signal level, with each code symbol being determined in accordance with the difference in signal level between an input signal and a prediction signal which is a representation of the input signal. A sequence of the generated code symbols are stored, including the most recent code symbol and a preceding number of code symbols, with the pattern or code symbols at any instant defining a state of signal activity. There is a table of delta increments, a table of threshold values, and a digital gain logic network, all of which provide signal outputs which are controlled by the state of signal activity represented by the stored code signal pattern. The signal output from the delta table and the threshold table are modified an amount determined by the value of the signal output from the digital gain logic network. An accumulation of modified delta increments are summed with modified threshold values for providing the prediction signal. The prediction signal and the input signal are compared for generating a new code symbol.

    FINITE MEMORY ADAPTIVE PREDICTOR
    5.
    发明专利
    FINITE MEMORY ADAPTIVE PREDICTOR 未知

    公开(公告)号：CA982265A

    公开(公告)日：1976-01-20

    申请号：CA173798

    申请日：1973-06-12

    Applicant: IBM

    Inventor： BAHL LALIT R ,  GROSSMAN DAVID D ,  BARNEA DANIEL I ,  KOBAYASHI HISASHI

    IPC: H04B1/66 ,  H03M7/46 ,  H04L25/48 ,  H04N1/40 ,  H04N1/417

    Abstract: A system for compacting digital data by means of prediction error coding. Prediction for each unknown bit is a function of previous detected levels in the data stream. A plurality of n-bit up-down counters, each associated with one of the possible states of prediction for an unknown bit, is utilized to arrive at a prediction of the level of the unknown bit. If the value found in the up-down counter is above a pre-specified level, a prediction will be made that the unknown bit is a one, otherwise, the prediction is zero.

    METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR INACCURACY OF THE ROBOT
    6.
    发明专利
    METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR INACCURACY OF THE ROBOT 未知

    公开(公告)号：CA1155519A

    公开(公告)日：1983-10-18

    申请号：CA374682

    申请日：1981-04-03

    Applicant: IBM

    Inventor： EVANS ROGER C ,  GRIFFITH JOHN E ,  GROSSMAN DAVID D ,  KUTCHER MYRON M ,  WILL PETER M

    IPC: B25J9/16 ,  B25J9/18 ,  G05D3/00

    Abstract: YO98-007 METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR INACCURACY OF THE ROBOT A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

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