公开(公告)号：WO2017062567A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/055674

申请日：2016-10-06

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： CHAMBERLAIN, Sarah M. ,  EBERHEIM, Richard T.

IPC: B29C67/04 ,  B29C64/40 ,  B29C64/118 ,  B29C64/209 ,  B29C47/06 ,  B33Y40/00

CPC classification number: B33Y10/00 ,  B28B1/001 ,  B29C64/106 ,  B29C64/20 ,  B29C64/386 ,  B29K2105/12 ,  B33Y30/00 ,  B33Y50/02

Abstract: A parallel robotic manipulator for generating 3 dimensional structures includes a set of redeployable towers adapted to transport one or more cables, and at least one drive source operable to draw or traverse the cables across a rendering area. An end- effector suspended from the cables is operable to deposit extrudate onto the rendering area, and a nozzle in the end-effector is configured to selectively deposit the extrudate at predefined locations based on the position of the cable. A control unit has control logic for directing the drive source, in which the cables are responsive to the drive source for disposing the end-effector either along the cables or drawn and extended from the towers. An extrudate reservoir and a pump in fluidic communication with the reservoir allows the pump to force the extrudate for deposition at the predefined location responsive to the control logic.

Abstract translation: 用于产生三维结构的平行机器人操纵器包括适于传送一个或多个电缆的一组可重新调配的塔架，以及至少一个驱动源，其可操作以在所述再现区域上拉伸或横越所述电缆。 从电缆悬挂的末端执行器可操作以将挤出物沉积到再现区域上，并且末端执行器中的喷嘴构造成基于电缆的位置将挤出物选择性地沉积在预定位置处。 控制单元具有用于引导驱动源的控制逻辑，其中电缆响应于驱动源，用于沿着电缆布置端部执行器或者从塔拉出并延伸。 挤出物储存器和与储存器流体连通的泵允许泵根据控制逻辑迫使挤出物在预定位置沉积。

公开(公告)号：WO2017184806A1

公开(公告)日：2017-10-26

申请号：PCT/US2017/028501

申请日：2017-04-20

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： EBERHEIM, Richard T. ,  HASSAN, Nicholas F. ,  O'CONNOR, Joshua C.

IPC: B64C31/02 ,  B64C39/02 ,  G05D1/10 ,  G01C21/00 ,  G01W1/08

Abstract: The airborne vehicle recovery method and apparatus enables radiosonde users to reliably recover launched radiosondes and provides new and unique opportunities for research and data acquisition with balloon launched radiosondes. Airborne vehicles such as radiosondes are disposed in a flight body adapted for propulsionless, gliding navigation for returning to one of several designated landing sites for recovery. Onboard electronics including a navigation computer, flight computer, and lightweight battery are employed for selecting a landing site, computing a heading and direction, and actuating flaps for pursuing a propulsionless, gliding path to the landing site. Gliding is directed only by right and left flaps responsive to respective actuators, such that the inclusion of only the actuators, navigation and flight electronics, and without active propulsion, enables sufficient gliding range from the lightweight construction and arrangement to reach one of several landing sites for effecting substantial recovery rates of the radiosondes.

Abstract translation: 机载车辆恢复方法和设备使无线电探空仪用户能够可靠地恢复已发射的无线电探空仪，并为利用气球发射无线电探空仪进行研究和数据采集提供新的独特机会。 诸如无线电探空仪之类的机载车辆被布置在适合于无推进的飞行体内，滑翔导航返回到若干指定的着陆点之一以便恢复。 包括导航计算机，飞行计算机和轻量电池的机载电子设备被用于选择着陆点，计算航向和方向，以及致动襟翼用于追踪到着陆点的无推进滑行路径。 滑翔仅由右翼片和左翼片响应于相应的致动器引导，使得仅包括致动器，导航和飞行电子装置并且没有主动推进，使得从轻型结构和布置的足够的滑动范围能够到达几个着陆点之一 为了实现无线电探空仪的实质回收率。