The present invention comprises an apparatus and method for automatically controlling the degree of temporal integration in a real time video image processor. The degree of integration may be determined by a combination of image brightness detected over a specific area of an image and motion detected within specific locations within the image. The apparatus comprises two main components, an integrating processor and integrating controller. The integrating processor receives an incoming analog video signal and converts it in an A/D converter into a series of digital pixel values. These digital pixel values may then be passed through an arithmetic processing unit where each pixel value may be fractionalized and summed with a fractionalized value of a geometrically corresponding pixel or pixels stored in a memory (i.e., temporal or recursive filtration). The sum of these fractionalized pixel values may then in turn be stored in memory as a new pixel values. The new image comprised of these pixel values stored in the memory may then be sent to digital to analog converter and then output to a monitor or video recorder. The amount of recursive filtration may be controlled using a fuzzy logic algorithm using brightness and motion as input vectors.

FIGS. 1 and 2 illustrate an example of a prior art real-time X-ray fluoroscopic imaging system. Such systems may be used in the medical field to view interior portions of a patient's body without the need for invasive surgery. The fluoroscopic imaging system of FIG. 1 comprises an X-ray generator 101 and X-ray tube 102 which generate a radiation beam 103 which may be collimated and directed at an input surface of X-ray image intensifier 104. Patient 105 may be placed in the path of radiation beam 103, modulating radiation beam 103 before it strikes X-ray image intensifier 104 and thus generating a real-time image.
Image intensifier 104 converts modulated radiation beam 103 to a visible image which may be optically coupled to closed circuit television (CCTV) camera 106 and/or film camera 107 through optical distributor 108. X-ray Image intensifier 104 is an electro-optical device which converts X-ray radiation into a visible image. Intensification of the image may be accomplished by both a geometric reduction in image size and amplification via electron optics.
CCTV camera 106 converts the visible image into an electronic signal which may be transferred to a television monitor 201 and/or video recorder 202 for observation and/or recording, respectively. In addition, the video signal from CCTV camera 106 may be modified or enhanced by real time video image processor 203 which may be located at any point between CCTV camera 106 and television monitor 201 and/or video recorder 202. Film camera 107 may be used to record either multiple images (e.g., cine camera) or single image (e.g., still camera). Magnetic disk Storage 205 may be used to store data representing a frame or frames of video image for later retrieval and display.
During observation or recording of real-time images using CCTV camera 106, the radiation exposure level is relatively low, and due to the quantum nature and statistical uncertainty in energy levels of the X-ray photons, the signal-to-noise ratio of X-ray beam 103 may be relatively poor in comparison to a film image created by employing much greater quantities of radiation. This poor signal-to-noise ratio impairs the diagnostic quality of the resulting television image. The largest component of this "quantum noise" is temporal in nature, i.e., it varies more in time than in space.
Traditional methods for improving this temporal noise has been to use a television camera pick-up tube (e.g., vidicon tube) with a suitable amount of integration (time lag) which effectively reduces the amount of quantum noise to an acceptable level. Over the years of development of television camera systems used in fluoroscopy, this integrating characteristic of camera pick-up tubes has reached a high level of refinement resulting in a diagnostically acceptable video signal-to-noise ratio at relatively low radiation exposure levels.
Television cameras which use solid state sensors (e.g., charge coupled device (CCD) or the like) are now being used in fluoroscopy. Such solid state devices, however, have relatively no integration relative to a tube type pick-up sensor. As a consequence, some form of electronic image processing may be desirable to integrate video signals to improve the signal-to-noise ratio. Since the primary noise component is temporal, and the signal is video, the image processor must integrate in the time domain and at the video frame rate of the television system. Such image processing may be typically accomplished by employing a digital recursive filter.
Different types of fluoroscopic procedures and changing conditions during an individual procedure, however, require different amounts of temporal integration in order to obtain the highest degree of diagnostic image quality. Temporal integration improves the signal-to-noise ratio of an image, but may degrade temporal response, causing a "smearing" of moving objects. Consequently, more integration may be employed when there is little motion within an image. Prior art recursive filters may be provided with a motion detector and/or a manual selector to vary the amount of integration. Such techniques, however, do not accurately mimic the action of a pickup tube sensor.
A pick-up tube sensor's degree of integration varies primarily with the brightness of an image. This phenomenon may be observed, for example, in films of black and white television programs filmed using vidicon tubes. Bright images such as reflections or the like tend to integrate more and thus may be observed as a smearing effect or afterimage. In fluoroscopy, this integrating effect is one that physicians and technicians have become accustomed to in the over thirty years of use of the tube type sensors in X-ray fluoroscopy. The integrating effect of the tube type sensor is automatic, requiring no input from the observing physician or technicians.
FIGS. 3 and 4 illustrate the operation of recursive filtration (i.e., time based integration) versus spatial integration. Recursive filtration is a form of image processing in which every new image may be summed with a fractional combination of previous images to form an actual observable image. Recursive filtration is a temporal (i.e., time based), in other words, each pixel in the most recent image frame may be summed with a fractional combination of every geometrically corresponding pixel of all previously occurring image frames to form the presently observable image frame. Thus, each pixel in a recursive filter may be an integral of all preceding geometrically corresponding pixels. This type of filter may be distinct from a spatial filter in which each pixel in the most recent image frame may be integrated with a number of surrounding pixels in the same image frame to form a presently observable image frame.
A spatial filter integrates over space, while a recursive filter integrates over time. A variable recursive filter changes the fractional weighting of previous image frames and the present image frame in order to change the degree of integration present in the presently observable image frame. In order to achieve a longer time integral, greater weight may be given to previous image frame pixel values. Conversely, in order to achieve a shorter time integral, more weight may be given to the present image frame pixel values.

Fluoroscopic imaging system with image enhancement apparatus and method


A classification apparatus, notably for uses in recognition or characterisation of odors, comprises a plurality of sensors for generating raw data representing a plurality of instances of a plurality of different classes; and a processing unit for processing said raw data so as to determine an identification model. The identification model comprises definitions of the classes and a particular allocation rule selected dependent upon the application. The class definitions are established by analysing data obtained during a learning phase, the analysis being performed according to a particular information extraction method. During a later identification phase, the identification model enables an instance of unknown class to be allocated to an appropriate class amongst those defined during the learning phase. The information extraction method can be selected dependent upon the application. Preferably, a percentage of the data obtained during the learning phase is used to establish a plurality of candidate identification models, and the identification model which is selected for use is the one which gives the highest number of correct classifications when use to classify the other data obtained during the learning phase.

The present invention concerns pattern classification, notably in the field of the characterisation or the identification of odours and, more particularly, a pattern classification apparatus which selects, from a list, the appropriate classification rule dependent upon the application.
In odour characterisation or identification apparatus (so-called xe2x80x9celectronic nosesxe2x80x9d) a sample of an unknown product is identified by classifying it, according to a classification rule, in one of several classes which the apparatus recognises thanks to a preliminary learning operation during which the characteristics of the classes are determined.
Apparatus of this type comprises two main parts, a data acquisition portion and a data processing portion. In general, the data acquisition portion comprises a sampling head enabling the sampling of volatile components which are given off by the tested product, and a battery of sensors to which the sampled components are supplied and which produce output signals which, taken together, are characteristic of the volatile components given off by the product and, thus, are characteristic of the product. In general, the data processing portion comprises automatic data processing means which record the sensors"" output signals and perform analyses thereon. By detecting or analysing the patterns inherent in the different sets of data relating to particular products, the data processing portion detects the class of the product, which can correspond either to the nature of the product (for example, xe2x80x9ca winexe2x80x9d, xe2x80x9ca whiskyxe2x80x9d, etc.), or to a concentration or quality of the product, for example, xe2x80x9cfresh milkxe2x80x9d, xe2x80x9cfermented milkxe2x80x9d, etc.
The goals pursued in acquiring and in processing the data are different depending upon whether the apparatus is in learning mode or in identification mode.
In the learning mode of the apparatus, the products from which the various samples are taken are known and are analysed several times. The processing methods which are used at this time are those which enable, on the one hand, the detection and characterisation of the different products and, on the other hand, the construction of a robust identification model. In general, an identification model consists of two elements, a method of extracting information from the sensors"" output signals and an identification rule enabling data obtained for a sample of unknown nature to be classified into a particular class. The information-extraction methods used are, generally, statistical methods, notably a Principal Component Analysis (PCA) or Discriminant Factor Analysis (DFA) (see for example, J. W. Gardner and P. N. Bartlett, xe2x80x9cSensors and sensory systems for an Electronic Nosexe2x80x9d, Nato Asi, Series E, Vol. 212, pp.161-180 (1992)). In the identification phase, the nature of the samples is unknown and the goal is to identify this nature by using the data, and the model which has already been constructed.
Typically, apparatuses of this kind implement a fixed type of analysis of the data obtained during the learning phase so as to produce certain definitions of the classes and, during the identification phase, they apply a fixed rule to allocate the samples of unknown products into the appropriate one of the defined classes.
The present invention relates to a pattern classification apparatus, notably for use in the field of odour recognition, in which there is a choice between several different allocation rules and/or between several different information-extraction methods, so as to enable the identification model to be adapted to the intended application.
More particularly, the present invention provides a classification apparatus, notably for use in the recognition or the characterisation of odours, comprising: means for acquiring, by a plurality of channels, during a learning phase, raw data representing a plurality of instances of a plurality of different classes, it being known to which respective classes the instances analysed during the learning phase belong; a processing unit for processing the data provided by the data acquisition means so as to determine, during the learning phase, an identification model defining the different classes and, during an identification phase, to classify, using a particular rule, an instance of unknown class into one of the classes defined during the learning phase; characterised in that the processing means is adapted to decide which of a plurality of possible identification models, the characteristics of which are stored in a register, should be applied.
By choosing the allocation rule and/or the information-extraction method dynamically, dependent upon the intended application, the apparatus of the present invention reaches a rate of recognition of unknown products which is improved compared with the conventional apparatuses.
It is preferable to select in a dynamic fashion both the allocation rule and the method used for extracting the information from the measured raw data. Both of these elements form part of the identification model established during the learning phase of the apparatus. Preferably, the raw data processing unit uses, as information-extraction method, statistical processing such as a principal component analysis or a discriminant factor analysis. In general, these methods serve to determine respective sub-spaces in which the different classes are well-discriminated from each other.
Preferably, several different identification models are determined on the basis of only a percentage of the data obtained during the learning phase. The identification model which will be chosen is the one which gives the best recognition rate when the other data obtained during the learning phase is submitted thereto.
Among the different possible allocation rules there is a rule which defines the centre of gravity of the points representing the instances of a class and which allocates an unknown sample to the class for which the distance between the point representing the unknown instance and the centre of gravity is a minimum. There is also an allocation rule according to which the boundary delimiting the points representing the instances of one class from the points representing the instances of the other classes is determined, and an unknown instance is allocated to the class for which the expansion of the boundary needed in order to encompass the point corresponding to this unknown instance is a minimum. A third allocation rule consists in the establishment of a probability distribution, based on a weighted sum of Gaussian functions representing the instances of the different classes, and an instance of an unknown class is allocated to one of the classes based on the positioning of the point which represents it relative to this probability distribution.
In certain applications it can prove useful, or indeed necessary, to eliminate from the analyses the raw data relating to channels which do not contribute to differentiating the instances of different classes. It can also prove necessary to eliminate from the calculations the data relating to abnormal instances of a class, that is, instances which, in terms of synthetic variables, are far removed from the other instances of the same class. This increases the reliability of the identification model established during the learning phase. In the same way, the data obtained during the learning phase, relating to abnormal instances of a class, can be deleted.

Classifying apparatus designed in particular for odor recognition


This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.

1. Field of Invention
This invention relates generally to the field of man-made earth satellites and more specifically to a novel method and associated apparatus for capturing, servicing and de-orbiting such satellites.
2. Background of the Invention
The last half-century has been a watershed for the development and implementation of earth-orbit satellites for various purposes. Different types of earth satellites include those designed for communications, earth remote sensing, weather, global positioning, and scientific research. A typical example of a communications satellite might be EchoStar 3, which is used to send television signals to homes throughout North America. Communication satellites act as relay stations in space. They are used to "bounce" digital messages, such as telephone calls, television pictures and internet connections, from one part of the world to another. EchoStar 3 and many other communications satellites are in geosynchronous orbit. There are more than 100 such communication satellites currently orbiting earth.
Earth remote sensing satellites, such as the LandSat series (LandSat 1 through LandSat 7), study the earth's surface. From 300 miles above the earth's surface, and more, these satellites use powerful cameras to scan the planet. Their instruments study earth's plant cover, chemical composition, surface temperature, ice cap thicknesses, and many other earth systems and features. Such data is useful in vital industries such as farming, fishing, mining, and forestry. Moreover, remote sensing satellites are used to study changes in global environments caused by man. Examples of this include areas that are turning into desert (desertification), and the destruction of rain forests (deforestation).
TIROS (Television Infrared Observational Satellite), operated by NOAA (National Oceanic and Atmospheric Administration), is a representative weather satellite. TIROS is one of several weather satellites making up a system operated by NOAA, which produces data used to forecast weather, track storms, and otherwise engage in meteorological research. There are two TIROS satellites circling earth over the poles while satellites from another part of the system, the Geostationary Operational Environmental Satellites (GOES), operate in geosynchronous orbit. Using this system of satellites, meteorologists study the weather and climate patterns around the world, such as temperature, moisture, and solar radiation in the atmosphere. Also, many weather satellites are equipped with sensors that aid search and rescue operations.
The Global Positioning System (GPS) satellites are in geosynchronous orbit and are able to identify latitude, longitude and altitude with great precision. Originally developed by the military, GPS satellites are now used by a wide variety of people everywhere to find their exact position. Airplanes, boats, cars and virtually any transportation apparatus are equipped with GPS receivers. Even hand-held GPS devices have become a norm with pedestrians and other travelers.
While there are many examples of satellites engaged in scientific research, Hubble Space Telescope (HST) is perhaps the best known. Since 1990, when HST was launched, the world has had access to remarkable visual images that have significantly advanced our understanding of the cosmos. HST's optics, science instruments and spacecraft systems work together to capture light from far reaches of the universe, convert it into digital data, and transmit it back to earth. Because application of the current invention to HST represents an exemplary mode contemplated of carrying out the invention at the time of filing for a United States patent, an overview of HST's systems is appropriate. However, one skilled in the art will recognize that the method of this invention can be applied and adapted to virtually any man made earth satellite.
HST optics are collectively called the Optical Telescope Assembly (OTA), which includes two mirrors, support trusses and the apertures of the accompanying instruments. OTA's configuration is that of a well-known, straightforward design known as Ritchie-Chretien Cassegrain, in which the two specialized mirrors form focused images over the largest possible field of view. Referring now to FIGS. 1 through 5, HST and OTA are graphically illustrated. While FIG. 1 shows a three dimensional cutaway view of HST, FIGS. 2 and 3 specifically illustrate OTA and the principles of its operation. As best seen in FIG. 3, light enters through the main aperture and travels down a tube fitted with baffles that keep out stray light. The light is collected by the concave primary mirror and reflected toward the smaller, convex secondary mirror. The secondary mirror bounces the light back toward the primary mirror and through a smaller aperture in its center. The light is then focused on a small area called the focal plane, where it is detected by the various science instruments.
OTA's mirrors are necessarily very smooth and have precisely shaped reflecting surfaces. They were ground so that their surfaces do not deviate from a mathematically perfect curve by more than 1/800,000 of an inch. According to this precision, if the primary mirror were scaled up to the diameter of the earth, the biggest bump would be only six inches tall. Shortly after HST was deployed, it was discovered that the curve to which primary mirror was ground was incorrect, causing a spherical aberration. Fortunately, corrective optics, much like a contact lens, were able to solve this problem.
The mirrors are made of ultra-low expansion glass and kept at a nearly constant room temperature (about 70 degrees Fahrenheit) to avoid warping. The reflecting surfaces are coated with a 3/1,000,000-inch layer of pure aluminum and protected by a 1/1,000,000-inch layer of magnesium fluoride, which makes the mirrors more reflective of ultraviolet light.
HST contains five science instruments, namely the Advanced Camera for Surveys (ACS), the Wide Field and Planetary Camera (WFPC2), the Near Infrared Camera and Multi-Object Spectrometer (NICMOS), the Space Telescope Imaging Spectrograph (STIS), and the Fine Guidance Sensors (FGS). These instruments work either together or individually to observe the universe in a unique way.
Installed in the latest space shuttle servicing mission in March of 2002, the ACS represents the third generation of science instruments flown aboard HST. It occupies the space vacated by the Faint Object Camera, HST's "zoom lens" for nearly twelve years. Among other tasks, ACS is used to map distribution of dark matter, detect the most distant objects in the universe, search for massive planets in other solar systems, observe weather on other planets in our solar system, and study the nature and distribution of galaxies. With its wider field of view, sharper image quality, and enhanced sensitivity, ACS expands HST's capabilities significantly; its cutting edge technology makes HST ten times more effective and prolongs its useful life. Designed to study some of the earliest activity in the universe, ACS detects electromagnetic waves in wavelengths ranging from far ultraviolet to infrared.
On the inside, ACS is actually a team of three different cameras, specifically the wide field camera, the high-resolution camera, and the solar blind camera. The wide field camera conducts broad surveys of the universe, which reveal clues about how our universe evolved. In contrast, the high-resolution camera takes detailed pictures of the inner regions of galaxies. The solar blind camera, which blocks visible light to enhance ultraviolet sensitivity, focuses on hot stars radiating in ultraviolet wavelengths.
HST's "workhorse" instrument, WFPC2, is behind most of the famous images it produces. This main camera includes 48 filters mounted on four filter wheels, which allow scientists to study precise wavelengths of light and to sense a range of wavelengths from ultraviolet to near-infrared light. Four postage stamp-sized pieces of circuitry called Charge-Coupled Devices (CCDs) collect and record information from stars and galaxies to make photographs. These detectors are very sensitive to the extremely faint light of distant galaxies. In fact, CCDs can see objects that are one billion times fainter than the human eye can see. Less sensitive CCDs are now found in some videocassette recorders and virtually all new digital cameras. Each of the four CCDs on HST contains 640,000 pixels. The light collected by each pixel is translated into a number. These numbers are then transmitted to ground-based computers, which convert them into an image.
NICMOS is HST's "heat sensor" and can see objects in deepest space—objects whose light takes billions of years to reach earth. The instrument's three cameras, each with different fields of view, are designed to detect near-infrared wavelengths, which are slightly longer than the wavelengths of visible light. Much information about the birth of stars, solar systems, and galaxies are revealed in infrared light, which can penetrate the interstellar dust and gas that often block visible light. In addition, light from the most distant objects in the universe "shifts" into the infrared wavelengths, and so by studying objects and phenomena in this spectral region, astronomers can probe the past, learning how galaxies, stars and planetary systems form.
Just as a camera for recording visible light must be dark inside to avoid exposure to unwanted light, so must a camera for recording infrared light be cold inside to avoid unwanted exposure to unwanted light in the form of heat. To ensure that NICMOS is recording infrared light from space rather than heat created by its own electronics, its sensitive infrared sensors must operate at very cold temperatures—below 77 degrees Kelvin (−321 degrees Fahrenheit). The instrument's detectors were initially cooled inside a cryogenic dewar (a thermally insulated container much like a thermos bottle), which contained a 230 pound block of nitrogen ice. While successful for about two years, the nitrogen ice cube melted prematurely. NICMOS was re-chilled during the last HST servicing mission of March 2002 with a "cryocooler," an apparatus that operates much like a household refrigerator.
STIS in essence acts like a prism to separate detected light into its component colors. This spectrograph instrument thus provides a "fingerprint" of the object being observed, which reveals information about its temperature, chemical composition, density and motion. Spectrographic observations also show changes in celestial objects as the universe evolves. STIS spans ultraviolet, visible and near-infrared wavelengths. Among other tasks, STIS is used to search for black holes. The light emitted by stars and gas orbiting the center of a galaxy appears redder when moving away from earth (redshift) and bluer when coming toward earth (blueshift). Thus, STIS looks for redshifted material on one side of the suspected black hole and blueshifted material on the other, indicating that this material is orbiting at a very high rate of speed, as would be expected when a black hole is present. STIS can sample 500 points along a celestial object simultaneously, meaning that many regions in planet's atmosphere or many stars within a galaxy can be recorded in one exposure. STIS was installed on HST during the 1997 shuttle servicing mission.
HST's Fine Guidance Sensors, its targeting cameras, provide feedback used to maneuver the telescope and perform celestial measurements. While two of the sensors point the telescope at a desired astronomical target, and then hold that target in an instrument's field of view, the third sensor is able to perform scientific observations. The FGS aim HST by locking onto "guide stars" and continuously measuring the position of the telescope relative to the object being viewed. Adjustments based on these constant, minute measurements keep HST pointed in the desired direction with an accuracy of 0.01 arcsec. The FGS detect when HST drifts even the smallest amount and return it to its target. This gives HST the ability to remain pointed at that target with no more than 0.007 arcsec of deviation over long periods of time. This level of stability and precision is the equivalent of being able to hold a laser beam focused on a dime 200 miles away for 24 hours.
Additionally, FGS provide precise astrometrical measurements of stars and celestial objects, which are advancing the knowledge of stars' distances, masses and motions. FGS provide star positions that are about ten times more accurate than those observed from ground-based telescopes. When used as science instruments, the sensors allow HST to search for a "wobble" in the motion of nearby stars, which may indicate that they have planets orbiting around them; determine if certain stars are actually double stars; measure the angular diameter of stars and other celestial objects; refine the positions and the absolute magnitude (brightness) scale for stars; and help determine the true distance scale for the universe.
All telescopes have optical systems, and some even have specialized instruments, but HST is almost unique in that it operates in space; the telescope is actually "flown" as a spacecraft. Therefore, several space craft systems are required to keep HST functioning smoothly. The essential systems are communications antennae, solar arrays for power, computers and automation, and housing.
HST performs only in response to detailed instructions from a ground-based control center, and thus communications antennae are necessary to transmit and receive such instructions between the telescope and the Flight Operations Team at the Space Telescope Science Institute. The four antennae on HST transmit and receive data via one of the constellation of Tracking and Data Relay Satellites (TDRS) operated by NASA. In order for this system to be operational, at least one TDRS satellite must be visible within HST's line of sight. Direct interaction can occur between HST and the control center only when this line of sight exists. When none of the TDRS satellites are visible from HST, a recorder stores the accumulated data until visibility is resumed. A flow diagram of the communications process is provided as FIG. 4.
Flanking HST's tube are two thin, blue solar panel arrays. Each wing-like array has a solar cell "blanket" that converts the sun's energy directly into electricity to power HST's various systems. Some of the energy generated by the arrays is stored in onboard batteries so that HST can operate while traveling through earth's shadow (about 36 minutes out of each 97 minute orbit). Fully charged, each battery contains enough energy to sustain HST in normal science operations mode for 7.5 hours, or five orbits. The solar arrays are designed for replacement by visiting astronauts aboard a space shuttle.
In order to run all the many subsystems onboard HST, several computers and microprocessors reside in the body of HST, as well as in each science instrument. Two main computers, which girdle HST's "waist," direct all operations. One communicates with the instruments, receives their data and telemetry, sends the data to interface units for transmission to the ground, and sends commands and timing information to the instruments. The other main computer handles the gyroscopes, the pointing control sub-system, and other HST-wide functions. Each instrument itself also houses small computers and microprocessors that direct their activities. These computers direct the rotation of the filter wheels, open and close exposure shutters, maintain the temperature of the instruments, collect data, and communicate with the main computers.
In space, HST is subject to the harsh environment of zero gravity and temperature extremes—more than 100 degrees Fahrenheit difference in temperature during each trip around earth. To accommodate this operating environment, HST has a "skin," or blanket, of multilayered insulation, which protects the telescope during temperature shifts. Beneath this insulation is a lightweight aluminum shell, which provides an external structure for the spacecraft and houses the OTA and science instruments. The OTA is held together by a cylindrical truss made of graphite epoxy, the same material used to make many golf clubs, tennis racquets and bicycles. Graphite is a stiff, strong and lightweight material that resists expanding and contracting in extreme temperatures.
The following table summarizes some of the relevant facts about HST:
TABLE 1Weight24,500 Lbs.Length43.5 Ft.Diameter14 Ft. (Aft Shroud)Optical SystemRitchey-Chretien Design Cassegrain TelescopePrimary Mirror94.5 Inch Dia.Pointing Accuracy0.007 Arcsec for 24 HoursMagnitude Range5 Meters to 30 Meters (Visual Magnitude)Wavelength Range1,100 Angstroms to 24,000 AngstromsAngular Resolution0.1 Arcsec at 6328 AngstromsOrbit320 Nautical Miles Inclined at 28.5 DegreesOrbit Time97 Minutes per Orbit
As indicated by the foregoing narrative, HST was designed to be serviced and upgraded periodically throughout its lifetime. Specifically, as illustrated in FIGS. 5 and 6, the space shuttle program had planned missions dedicated to servicing and upgrading HST scheduled until 2010, at which time HST would be retired and de-orbited in favor of the new James Webb Space Telescope (JWST). However, in January of 2004, NASA Administrator Sean O'Keefe announced that he was canceling shuttle Service Mission 4 (SM4) because of safety issues identified by the Columbia Accident Investigation Board (CAIB) Report. The CAIB Report was issued as a result of the Space Shuttle Columbia disaster of Feb. 1, 2003, when all seven astronauts aboard Columbia were tragically killed on reentry into the atmosphere.
Administrator O'Keefe's announcement presented the scientific community with at least two problems. First, without SM4, regularly scheduled upgrades to HST's scientific instruments could not be made, thereby confining scientific use of HST to outdated technology. Second, and of graver concern, without SM4, wearable parts on HST could not be replaced. More specifically, gyroscopes necessary for HST's Pointing Control System (PCS) are degrading and will probably cease to operate within the next three to five years, as indicated by the chart of FIG. 7. The current PCS requires sensing from three gyros, and already only four of the six gyros aboard HST are operational. Best estimates show that a less than 50 percent probability exists that three gyros will be operational by the late 2005 or early 2006. Although scientists are developing a two-gyro pointing system, that solution may add only 12 to 18 months of additional life.
Moreover, batteries that power HST's computers, instruments and virtually all vital systems are at risk. Based on recent tests, each of HST's six batteries is losing its charging capacity at a rate of 5.9 amp hours per year. This is far higher than previous tested loss rates of about two amp hours per year, and points out a tendency for capacity loss rate to accelerate nonlinearly over time. Without intervention, as scheduled by SM4, it is projected that by the end of 2005 science operations will likely require block scheduling and a lowering of the safemode trigger. By 2006, it is probable that the state-of-charge at the end of orbit night will be neat the hardware sunpoint safemode trigger, which is the lowest level of safemode that protects the vehicle.
Accordingly, there is a need for a method and attendant apparatus for autonomously servicing HST and other free-flying satellites during flight using robotics.

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

Abstract: In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

United States of America as represented by the Administration of the National Aeronautics and Space Administration


A printed circuit board working machine includes a spindle which holds a cutting tool and is movable to bring the tool into contact with and away from a printed-circuit board to be worked. A device for pressing down the printed-circuit board comprises a support mechanism associated with the spindle of the working machine for relative movement thereto, a plurality of holding sections movably supported by the mechanism and a driving mechanism for the holding sections. The holding sections are formed with holes of different sizes, respectively. When working operation, after the support mechanism causes the holding sections to move away to a position free from interference with the tool, the driving mechanism moves the holding sections to align one of the through holes, corresponding to a size of the tool to be used, with the tool. Subsequently, the support mechanism returns the holding sections to an initial position and, before the tool reaches the printed-circuit board, brings the corresponding holding section into pressure contact with the printed-circuit board.

1. Field of the Invention
The present invention relates to a device which is to be mounted on a printed-circuit board working machine for holding or pressing down a printed-circuit board during working operation. More specifically, the invention relates to a printed-circuit board holding device which has a plurality of holding or pressing sections and changes them according to the size of a portion to be worked of a printed-circuit board.
2. Description of Related Art
In order to precisely work a printed-circuit board, it is necessary to hold or press down the printed-circuit board firmly. For example, in case of perforating the printed-circuit board by means of a drill, it has been customary to hold down the vicinity of a portion to be worked of the printed-circuit board so as to prevent production of any burr along the edge of a drilled hole.
It is convenient for the printed-circuit board working machine to have an equipment for that purpose. A conventional example of this kind of working machine is disclosed in Japanese Patent Unexamined Publication No. 4-354609.
The conventional working machine is constructed to hold a working tool or drill on a spindle and to work a printed-circuit board set on a table through driving of the spindle. A printed-circuit board holding device includes a pressure foot which is provided at an end of the spindle for relative movement thereto. The pressure foot has a through hole for allowing the drill to pass through. When working, the pressure foot is first brought into contact with the printed-circuit board to hold down the board against the table. Subsequently, the drill is passed through the through hole in the pressure foot and brought into contact with the printed-circuit board. In this way, working is performed in a state where the printed-circuit board is held down.
Typically, a plurality of kinds of holes, the sizes of which are different from each other by 0.05 mm -0.1 mm and range from 6.3 mm at the largest to 0.1 mm at the smallest, are formed in the printed-circuit board, and a plurality of sizes of drills are used in working one printed-circuit board. The through hole in the above-described pressure foot is made larger than a diameter of the largest drill so as to allow all the drills to pass through it.
Incidentally, as holding or pressing down of the workpiece is performed closer to the worked position, the effect becomes greater. In case of drilling the printed-circuit board, degree of production of burr depends on a distance between an outside diameter of the hole being drilled and the pressing position. For this reason, it is desirable to hold down the printed-circuit board at as close position to the portion to be worked as possible.
The conventional device described above, as the through hole in the pressure foot is large, has a low pressing effect when working a hole of small diameter. To cope with this, it has been proposed in Japanese Patent Unexamined Publication No. 4-354609 that through holes of various sizes are formed and changed selectively according to the size of tool to be used.
More specifically, the device according to Japanese Patent Unexamined Publication No. 4-354609 has a plurality of holding or pressing sections rotatably or slidably provided on a lower side of the pressure foot. These holding sections have through holes of different diameters, respectively. When working, the holding sections are first moved to align one of the through holes thereof, which matches the size of the tool to be used, with the through hole in the pressure foot. Subsequently, working is performed. In this way, it is possible to perform the working operation while pressing the vicinity of a hole to be formed.
In the device according to Japanese Patent Unexamined Publication No. 4-354609, during selection of a holding section prior to the working, the drill is held at a sufficient distance from the moving holding sections lest it should interfere therewith. Accordingly, the drill must be moved through this distance until it is brought into contact with the printed-circuit board, with the result that the stroke required for the formation of one hole is made large.


A colored translucent zirconia sintered body contains a transition metal element as a coloring agent, having a clear color tone and high transparency, and being excellent in both design properties and esthetic properties, and its production process. A colored translucent zirconia sintered body includes yttria in an amount of at least 6 mol % and at most 15 mol % and at least one member selected from the group consisting of iron, nickel, manganese, cobalt, chromium, copper and vanadium in an amount of at least 0.02 mol % and at most 0.5 mol % as calculated as oxides, and having a porosity of at most 1,000 ppm. The average crystal grain size is preferably at most 60 μm.

Heretofore, a zirconia single crystal i.e. so-called cubic zirconia has been used for applications to decorations and applications to jewelry. Further, cubic zirconia colored by adding a coloring agent such as a transition metal or a rare earth element is also used for the same applications (Non-Patent Document 1).
To prepare such cubic zirconia, it is necessary to prepare a bulk zirconia single crystal e.g. by skull melting process first, and then to process the prepared bulk single crystal into a desired shape e.g. by cutting or polishing. Accordingly, it is difficult to process cubic zirconia into an optional shape, and cubic zirconia could not be used for an application which requires high design properties, e.g. a complicated shape, or for an application which requires microfabrication.
On the other hand, a translucent zirconia sintered body having high transparency, obtained by molding and firing a zirconia powder, has been reported (Patent Documents 1, 2 and 3 and Non-Patent Document 2). Such a translucent zirconia sintered body can be prepared by molding such as injection molding. Accordingly, a translucent zirconia sintered body can easily be produced as a sintered body having an optional shape. Such a translucent zirconia sintered body having high transparency can be formed into a member having a shape which cannot be achieved by cubic zirconia.
In order to further improve the design properties of a translucent zirconia sintered body, a translucent zirconia sintered body having a rare earth element added as a coloring agent, i.e. a so-called colored translucent zirconia sintered body has been studied (Patent Documents 1 to 3).

This patent is subject to a terminal disclaimer.

Colored translucent zirconia sintered body, its production process and its use


An artificial intelligence device mounted on a wine refrigerator including one or more divided spaces includes an input unit, a processor, and an output unit. The input unit is configured to recognize a wine label of each space and recognize an image for determining opening or non-opening of a wine. The processor is configured to acquire wine information by using an artificial intelligence model that receives image data acquired from the input unit as an input value, create a wine list table of each space by using the acquired information, and group wines having the same storage condition into at least one group according to the wine list table, and perform a control such that a temperature of each space is set based on the storage condition of the group. The output unit is configured to output a signal received from the processor.

The present invention relates to an artificial intelligence device mounted on a wine refrigerator. In particular, an artificial intelligence device mounted on a wine refrigerator including one or more divided spaces identifies label information and opening or non-opening of a wine stored in each space by using an artificial intelligence model, creates a wine list table including information about the wine stored in each space by using the information acquired by using the artificial intelligence model, and sets the temperature of each space of the wine refrigerator by grouping according to the storage conditions of the wine.
The present invention relates to an artificial intelligence device mounted on a wine refrigerator. In particular, in order to store the wine stored in each storage in an optimal storage condition, the wine is recognized for each space, and a notification for optimal wine storage is provided to the user by using an artificial intelligence model.
In general, the demands for wine refrigerators used only for wine dealers have recently been increasing among the general public. Accordingly, wine refrigerators are being launched at reasonable prices, ranging from expensive products to inexpensive products. Recently, refrigerators that allow users to set wine storage conditions according to personal preferences have been released. Due to the characteristics of the wines, the storage temperature is very important to properly enjoy the taste and aroma of the wines. For example, in the case of white wine, it is preferable to adjust a temperature at about 5° C. to about 8° C., and in the case of red wine, it is preferable to adjust a temperature at about 13° C. to about 18° C. When considering that there is an expiration date depending on whether a cork is opened or closed, it is very inconvenient for ordinary persons other than experts to check the type of the wine and the temperature of the refrigerator in order for optimal storage. In addition, existing wine refrigerators have been inconvenient because detailed operations such as a multi-stage temperature control function can be used only after the user is well acquainted with the characteristics of the refrigerator by referring to the manual.

Artificial intelligence device mounted on wine refrigerator


When an image obtained with use of a digital camera is deleted, deletion information including time and date of photography thereof is generated and recorded in a memory card. When an image obtained by photography is stored in the memory card, the deletion information is referred to, and a weight is set for the photographed image according to the number of deleted images photographed within a predetermined time before and/or after photography of the image, and added to the image.

1. Field of the Invention
The present invention relates to a photography apparatus such as a digital camera and a photography method for obtaining an image by photography and for storing the image in a recording medium such as a memory card. The present invention also relates to a weight setting apparatus and a weight setting method for setting a weight of the image, and to programs for causing a computer to execute the photography method and the weight setting method.
2. Description of the Related Art
Unlike a conventional camera using a silver salt film, a digital camera stores images as digital data in a recording medium such as a memory card. Therefore, a large amount of images can be photographed with use of a digital camera. Furthermore, since a photographed image can be confirmed immediately after photography by display of the image on a liquid crystal display monitor, an unnecessary image such as a blurry image caused by unsuccessful photography can be deleted immediately from a recording medium. For this reason, photography is often carried out repeatedly until a user is satisfied, by confirming images immediately after photography.
A user of a digital camera tends to photograph similar scenes serially to store the images in a recording medium, since the user can delete the images later. In this case, the images are reproduced later and a necessary part of the images is selected from the similar scenes and the remaining unnecessary images are often deleted to save space in the recording medium.
Meanwhile, a method of recording time and date of insertion of characters and figures in a radiograph or the like has been proposed (see Japanese Unexamined Patent Publication No. 2001-195869). According to this method, editing operations can be carried out later with ease, by recording the time and date.
Since a digital camera allows repeated photography, images stored in a recording medium are those which have been saved by a user without deletion thereof. Therefore, the images are important to the user, and the user finds it convenient to be notified of an important image during display thereof, at the time of placing a printing order, for example.

Apparatus and method for photography, apparatus and method for setting weight, and programs therefor


A method and apparatus for harvesting fruit determines the proportion of fruit in a mixture of products containing fruit and bodies foreign to the fruit by capturing at least one initial image of a surface of the mixture to be examined. The device then assigns to each image pixel of one of two extreme grey levels according to the initial grey level of the pixel relative to a set threshold and then records the number of pixels of at least one extreme grey level to determine a area ratio between areas occupied by fruit and foreign bodies in the image. The invention has particular application to the harvesting of fruit, berries and the like produced on trees or bushes grown in rows to use the calculated proportion of fruit to adapt at least one of the functioning parameters of the machine.

The present invention relates to a system for determining a proportion of foreign bodies in relation to fruit. The invention has particular application to the determination of a percentage of leaves and branches in a batch of fruit, berries and the like which have been harvested or of fruit, berries and the like grown on fruit trees or bushes. A particular application of this invention relates to the field of machines for harvesting fruit, berries and the like produced on fruit trees or bushes grown in rows. Such a machine comprises a high clearance chassis which can be travelled over fields and one or more shaker assemblies mounted on the chassis. The shaker assembly comprises one or more pairs of elongated shaker units which extend approximately horizontally in the direction of one of the longitudinal median axes of the machine.
The shaker units are spaced transversely to each other on either side of the longitudinal median axis. The shaker assembly also comprises a control mechanism connected to the shaker units to activate them in a synchronized reciprocating movement in a transverse direction in relation to the longitudinal median axis.
The invention will be described in relation to a particular example relating to the harvesting of grapes. However, it will be appreciated that the invention is also applicable to the harvesting of other fruits and berries, for example, black currants, gooseberries, raspberries and, more generally, to the harvesting of any fruit grown on trees or bushes planted in rows.
The principle of harvesting grapes is practically the same for most known grape harvesting machines. It involves shaking the vine by applying a sinusoidal, pseudosinusoidal or similar movement of the proper amplitude and frequency to detach the grapes or bunches of grapes. The movement is transmitted upon the vine by shaker units spaced so that they act either on the stock or vine or on the vegetation, that is, the fruiting area, depending on the type and number of shaker units used. The percentage of bunches and/or grape berries detached from the vine depends on the number and amplitude of the oscillations to which a given bunch of grapes is subjected. The more energetically and the more times a bunch is shaken, the more chance there is of said bunch or its individual grapes being detached from the vine. The number and amplitude of the oscillations to which a given bunch is subjected in turn depend essentially on various parameters which can be selected, particularly the amplitude and frequency of the control mechanism connected to the shaker units and the forward speed of the machine.
In detaching the bunches or grapes, the shaker units can also cause substantial detachment of leaves and/or breakage of shoots and/or buds. Apart from the fact that such damage compromises the future yield of the vine, the foreign bodies thus collected with the grapes cause problems with cleaning the crop which may lead to oenological problems.
The more energetically and the more times the shaker units act on the vine vegetation, the more and greater the above-mentioned damage will be. It is therefore normally necessary to find a compromise between the various above-mentioned parameters in order to obtain an acceptable percentage of harvested bunches or grapes without causing too much damage to the vine or complicating the cleaning of the crop.
Up to now, the working parameters of the harvester has been set manually by the driver based on visual observation of the harvest or of the vine plants after the machine has passed over them. Even though certain parameters such as shaker frequency can be adjusted from the driver's seat, such a visual check presents several inconveniences. Firstly, this inspection of plants and vines or of the crop is imprecise and depends on the driver's experience and powers of observation. Secondly, an unacceptable proportion of unharvested grapes on the vines or of foreign bodies (leaves, stems, buds) in the harvested crop can only be detected at the end of a row. The driver cannot inspect the contents of the temporary crop storage bin whilst the machine is travelling. Moreover, he cannot see the plants which have already been harvested because they are hidden behind the machine. Furthermore, the driver has to concentrate on driving the harvester both to align with the rows of vines and to control the speed of the machine on which, among other things, the number of times the shaker units act on a vine plant depends. It therefore would be very useful to have a system which might show the driver automatically what proportion of foreign bodies there was in the grapes harvested and/or the proportion of unharvested grapes after the machine had passed.
There are some optical systems for locating fruit on trees to enable a robot to pick it.
Document FR-A-2 658 624 describes such a system in which a camera provided with photosensitive charge coupled device (CCD) elements is used to find the coordinates of a fruit in a vertical plane parallel to the row of trees from which the fruit is to be picked. A robotized picking arm is directed at substantially right angles to the vertical plane towards the point of the fruit coordinate and the arm is slowed down near to the fruit by the action of an ultrasonic detector. The image processing means comprise means for activating a flash synchronously with the camera's integration periods.
Document EP-A-0-267 860 describes another system using several multi-color cameras to detect fruit on a tree and indicate successively to a robot with a picking arm the respective positions of fruit which it detects.
Document JP-A-6 261 622 describes a similar harvesting system which uses at least two infrared wavelengths.
Such systems do not provide a solution to the problems of examining the quality of the crop and the durability of the vine which the present invention aims to resolve. Moreover, in the above systems the processing of images is especially complex because it is necessary to detect the shape and coordinates of the fruit to be picked. Detection of shape serves, in particular, to distinguish fruit from foliage if their respective colors are similar.
There are also other crop sorting systems which use a camera working in the infrared field. For example, document FR-A-2 697 450 describes a system of sorting constantly moving fruit and vegetables to separate them from others, these being made up of non-fleshy parts. This system uses infrared rays in order to detect, by means of the difference in reflectivity between the fleshy and non-fleshy parts, the presence of a non-fleshy part in or attached to the fruit.

Method and apparatus for harvesting crop material


An electrosurgical instrument having a safety shield for use in laparoscopic or like electrosurgical procedures designed to receive a plurality of electrosurgical instrument inserts. The electrosurgical inserts are designed so as to provide quick and easy attachment to the electrosurgical apparatus while still providing enhanced resistance to rotation forces encountered during an electrosurgical procedure, and to distribute actuation forces occurring during use. The safety shield includes a crimped portion for transferring forces that occur during operation of an articulating instrument inserted therein to a handle assembly of the electrosurgical instrument. The electrosurgical instrument has a seal that reduces or prevents electrical current from flowing between the active electrode and shield assemblies. The electrosurgical instrument further includes a connector assembly for receiving a mating cable connector and providing a fail-safe interconnection therewith. A second preferred embodiment of the electrosurgical instrument is adapted to be removably connected with a replaceable shield/connector assembly through which the instrument is inserted. Furthermore, position of the shield with respect to the electrosurgical instrument can easily be accomplished.

This invention relates to electrosurgical apparatus and in particular to such apparatus for performing laparoscopic, pelvoscopic, arthroscopic, thoroscopic and the like surgical procedures. Procedures of the foregoing type are experiencing explosive growth in that incisions are kept to a minimum size and thus such procedures facilitate shorter hospital stays and lower costs. For example, with laparoscopic surgery, a patient can return to, normal activity within about one week, whereas with procedures where a large incision is made, about a month for full recovery may be required. It is to be understood that hereinafter and in the claims, whenever the term xe2x80x9claparoscopicxe2x80x9d is employed, similar procedures such as pelvoscopic, arthroscopic, thoroscopic, and the like where small incisions of the foregoing type are made are also encompassed by this term.
Prior art electrosurgical laparoscopic apparatus typically include an active electrode probe that is removably insertable through a trocar sheath and that includes an electrode having an insulative coating thereon. The tip of the probe may be of different conventional shapes such as needle-shape, hook-shape, spatula-shape, graspers, scissors, etc. and serve various conventional functions such as suction, coagulation, irrigation, pressurized gas, cutting, etc. There are, however, various problems which may arise with respect to the use of such a prior art apparatus when used in laparoscopic or like procedures.
A first problem may arise if the insulation on the active electrode is damaged thereby allowing active current (possibly in the form of arcing) to pass therethrough directly to the patient""s tissue (possibly the bowel or colon) whereby peritonitis may set in within several days. A second problem which can arise with prior art apparatus is caused by a capacitive effect where one electrode of the capacitance is the active electrode and the other electrode of the capacitance is a metallic trocar sheath and the dielectric between these elements is the insulation on the active electrode. Current from the active electrode will be capacitively coupled to the trocar sheath and then returned through the body and the return electrode to the generator. If this current becomes concentrated, for example, between the trocar sheath and an organ such as the bowel, the capacitive current can cause a burn to the organ. A third potential problem occurs if the active electrode contacts another instrument within the peritoneal cavity such as metallic graspers or the like. The above-mentioned capacitive effect also arises in this situation where the first electrode is the active electrode and the second electrode is the metallic graspers or the like. Thus, where the grippers contact a unintended site, injury may occur.
To solve some of the above identified problems, an electrosurgical apparatus as disclosed in U.S. Pat. No. 5,312,401 to Newton et al. and assigned to the assignee of the present invention has been proposed, the contents of which are incorporated herein by reference. Newton et al. disclose an electrosurgical apparatus that includes a safety shield that surrounds an active electrode and that includes insulation provided at least on the outer surface of the shield and preferably also provided on the inner surface of the shield. The safety shield is connected to a return lead via a low impedance path that includes monitoring circuitry used to detect the shield current and determine an abnormal condition therefrom.
In the event that the insulation on the active electrode is damaged, current will pass through the damaged insulation to the shield and then be returned to the return lead via the low impedance electrical connection between the shield and the return lead of the electrosurgical generator. A monitor circuit responsive to the shield current deactivates the electrosurgical generator whenever the shield current corresponds to an abnormal condition such as an insulation breakdown. The insulated shield of Newton et al. also addresses the second and third above-mentioned problems by harmlessly returning any current which is capacitively coupled to the shield to the return lead via the above-mentioned low impedance connection.
Referring to FIG. 1 a cross-sectional view of an illustrative laparoscopic apparatus in accordance with Newton et al. is shown. A tubular safety shield assembly 15 includes a tubular shield 9 having a layer of insulation 11 provided on the outer surface thereof and an optional layer of insulation 13 provided on the inner surface thereof. The tubular shield assembly is inserted through trocar sheath 1 to thereby provide a passageway through which the active electrode probe 3 may be inserted. An elongated port 23 may extend through the active electrode through which irrigation fluids, suction, a pressurized gas stream, etc. may pass. When active probe 3 and tubular shield assembly 15 are in their respective inserted positions as shown in FIG. 1, the shield 9 surrounds the active probe from at least (a) a proximal point 17 prior to the entry point 19 of the active probe into the trocar sheath 1 to (b) a distal point 21 in proximity to the tip 7 of the active probe. Shield monitor circuitry 25 is connected to shield 9 via a dual conductor lead 27 whereby the integrity of the connection of the shield to the monitor circuitry can be monitored.
The active electrode probe 3 is connected to an electrosurgical generator 31 which may be of a conventional type via an active lead 35. The electrosurgical generator is connected to a patient return electrode 37, preferably of the dual area type, via the shield monitor circuitry 25 and, in particular, the return terminal of the generator is connected to circuitry 25 via lead 29 while the circuitry 25 is connected to the return electrode via lead 33. Upon detection of a fault condition by the shield monitor circuitry, the electrosurgical generator 31 may be deactivated by opening a relay in the connection between the generator and patient return electrode 37 although other means may also be employed to deactivate the generator.
Referring to FIG. 2 a generalized block diagram of the shield monitor circuitry 25 shown in FIG. 1 and used in Newton et al. is shown. A conductivity monitor 39 is connected to dual lead 27, the purpose of the conductivity monitor circuit being to measure the integrity of the connection of lead 27 to shield 9. The dual connection provides a redundant path for shield monitoring current which is applied to lead 27 as will be described in more detail hereinafter with respect to FIG. 9. A shield current sensor 41 senses the current passing from the shield 9 to return electrode lead 29, 33 and may provide a signal voltage proportional to the instantaneous value of the shield current.
Measurement electronics circuitry 43 includes various circuits for measuring different parameters of at least the sensed shield current. The first of these circuits is a full bandwidth amplitude sensor circuit 47 which measures the amplitude of the full bandwidth of the sensed shield current. Processing and decision circuitry 53 determines whether this amplitude exceeds a predetermined threshold and, if it does, a fault condition may be applied to indicators 61 over line 55. Indicators 61 may be aural and/or visible and provide an appropriate alert. A data logger 73 may also be connected to processing and decision circuitry 53 to provide a hard copy of various safety conditions.
In addition to applying an alert signal over line 55, a generator deactivate signal is applied over line 69 to a relay 71 which opens the connection between return electrode 37 and generator 31 to thus deactivate the generator and discontinue the application of electrosurgical energy. That is, the monitor circuitry 25, when used outside host electrosurgical generator 31, is preferably used with an electrosurgical generator of the type having a dual return electrode lead whereby the integrity of the return electrode connection can be monitored. Such monitoring circuitry is known whereby a split (or double) patient electrode is employed and a DC current (see German Patent No. 1139927 published Nov. 22, 1962) or an AC current (see U.S. Pat. Nos. 3,933,157 and 4,200,104) is passed between the split electrodes to sense patient contact resistance or impedance between the patient and the electrodes. If an open circuit condition is sensed, the generator is deactivated. Since the relay 71 of FIG. 2 is opened upon detection of a fault condition, the return electrode connection is also opened to thus deactivate the generator. However, it is to be understood other means will also occur to those skilled in this art for deactivating the generator upon detection of a fault condition by monitor circuitry 25.
Relative amplitude measurement circuitry 51 may be responsive to the ratio of the amplitudes of the sensed shield current and the sensed return electrode current as determined by return current sensor 65. Processing and decision circuitry 53 determines whether this ratio exceeds a predetermined threshold and if it does an alert signal is applied over line 55 while a deactivate signal is applied over line 69 to relay 71 in a manner similar to that described above with respect to the absolute amplitude fault condition.
Phase sensing circuitry 75 is responsive to the phase difference between the voltage applied to the active lead 35 of FIG. 1 and the sensed shield current. In FIG. 1 the monitor circuitry 25 is indicated as being housed outside host electrosurgical generator 31. However, it may also be incorporated within the electrosurgical generator. In the latter instance, access may be readily gained to the active voltage and thus the phase comparison made by phase sensing circuitry 75 can be readily effected. When the monitor is located outside of the host electrosurgical unit, it is somewhat more inconvenient to gain access to the applied voltage signal; nonetheless, appropriate means will occur to those of ordinary skill in the art to gain access to this signal.
Detection of the phase difference between the active voltage and the shield current is a particularly good indicator of a fault condition. That is, normal shield currents are exclusively capacitivexe2x80x94in particular, due to the capacitive coupling between active electrode 5 and shield 9, there is a 90xc2x0 phase difference between the active voltage and the shield current under normal conditions. Hence, as long as the insulation between the active electrode and the shield is intact, a normal condition will be sensed by phase sensing circuitry 75.
In general, the phase sensing circuitry, in response to the phase difference between the applied inputs being 90xc2x0, provides a first output (high voltage, for example). If there is an insulation breakdown between the active electrode 5 and the safety shield 9, arcing will typically occur and such arcing currents are almost exclusively in phase with the applied voltage. That is, the shield current will be in phase with the active voltage. Phase sensing circuitry 75 detects this in phase, fault condition to change the output from high to low.
Spectral sensing or filtered bandwidth circuitry 77 provides a further reliable means for detecting the presence of arcing between the active electrode and shield. Moreover, this method does not need access to the active electrode voltage and thus readily lends itself to those monitor circuitry 25 which are located outside the host electrosurgical generator 31. Spectral sensing circuitry is responsive to at least one predetermined bandwidth of the sensed shield current to detect the presence of a shield current produced by arcing where the arcing will typically occur between the active electrode and the shield due to insulation breakdown therebetween.
Both the phase sensing circuitry 75 and the spectral sensing circuitry 77 also apply inputs to processing and decision circuitry 53 in a manner similar to that described above with respect to circuits 47 and 51 whereby the outputs of circuitry 75 and 77 may be utilized to actuate indicators 61 and data logger 73 and deactivate the electrosurgical generator via relay 71. As indicated above, one or more of the sensing circuits 47, 51, 75, and 77 may be independently utilized or utilized in combination to effect the shield monitor function of circuitry 25.
Various measures have been taken in Newton et al. to render the operation thereof fail-safe. For example, if the monitor circuitry 25 is employed outside host electrical generator 31, there is a possibility the user may connect the return electrode directly into the electrosurgical generator rather than through the monitor circuitry 25 as illustrated in FIG. 1. If this occurs, the shield will not be connected to the return electrode lead through a low impedance path, as will be discussed below, and thus monitor circuitry 25 will be inhibited from performing its monitoring function. To provide an alert to the user that the return electrode has been inappropriately directly connected to the generator 31, a shield to ground voltage sensor 49 may be provided, the sensor 49 being responsive to the shield voltage over line 45 via lead 27. The output of shield/ground voltage sensor 49 is applied to processing and decision circuitry 53 where an appropriate indicator 61 is actuated if the return electrode is directly connected to the electrosurgical generator.
If the return electrode is directly connected to the electrosurgical generator, the voltage on the shield will rise to a substantial percentage of the active voltage in view of an open circuit between the shield and the return electrode lead. Hence, whenever the voltage on the shield exceeds a predetermined threshold, an appropriate signal is applied to processing and decision circuitry 53 over line 57 to thereby provide a desired alert.
Furthermore, when the monitor circuitry 25 is provided outside host electrical generator 31, it is desirable in some instances to battery power the monitor circuitry 25. That is, if the monitor circuitry is powered from an operating room electrical outlet, this will entail an additional wire being connected to the monitor circuitry where in some instances it is desirable that the number of wires associated with the electrosurgical apparatus be reduced to a minimum. Accordingly, an activation control unit 59 may be employed which is responsive to the sensed shield current over line 63 or the sensed return current over line 67 to provide a battery power supply for the various circuits of monitor circuitry 25.
However, even with the use of the safety shield as disclosed in Newton et al., additional problems continue to exist when such an apparatus is used in a laparoscopic procedure or the like. Specifically, in order to facilitate sterilization and replacement of electrosurgical instruments, there is a demand for a shielded electrosurgical instrument that accepts a plurality of electrosurgical inserts (such as graspers, scissors, etc.) that can easily be removed and replaced. Furthermore, there is a need for such inserts to be reliably and securing attached to the shielded electrosurgical instrument in order to prevent undesirable loosening during a surgical procedure. However, it is still desirable for the electrosurgical insert to be easily removed to facilitate sterilization of the electrosurgical instrument.
Furthermore, potential problems exist with respect to the interconnection between an electrosurgical generator and a shielded electrosurgical instrument. Although precautions to ensure proper interconnection to the shield of the electrosurgical instrument have been previously taken, there still exists a possibility that a false signal indicating proper interconnection could result. In such case, a surgeon could proceed under the false impression that the shield monitor was operational when in fact it is not. Of course, in the event of an insulation failure, the results could be catastrophic.
Furthermore, the structure of the connectors used to make a connection between the active and shield electrodes of and electrosurgical instrument and an electrosurgical generator and monitor are such that foreign matter, such a liquids encountered during the surgical procedure, could invade the connector housing, thus creating an electrical short circuit between the active electrode and the shield electrode of the electrosurgical instrument. Again, such a situation is undesirable when performing an electrosurgical procedure.
Also, inserts designed for use with electrosurgical instruments are such that a mechanical failure could occur during an electrosurgical procedure, thus rendering the electrosurgical instrument inoperative. Again, should such failure occur during a surgical procedure, danger to the patient could result.
Furthermore, a need exists for an integral shield assembly adapted for use with a plurality of electrosurgical instruments such that the electrosurgical instruments can be selectively interconnected with, and positioned with respect to, the shield assembly. This allows separation of the shield assembly and electrosurgical instrument to be easily accomplished to facilitate sterilization of the instrument. Furthermore, replacement of defective or worn shield assemblies can be easily accomplished with the provision of a standardized shield assembly suitable for use with a plurality of electrosurgical instruments.
The present invention provides a solution to the above mentioned, and other, problems with prior electrosurgical apparatus and specifically with prior shielded electrosurgical apparatus. In accordance with the present invention, an electrosurgical instrument having a safety shield for use in laparoscopic or like electrosurgical procedures designed to receive a plurality of electrosurgical instrument inserts is disclosed. The electrosurgical inserts are designed so as to provide quick and easy attachment to the electrosurgical apparatus while still providing enhanced resistance to rotation forces encountered during an electrosurgical procedure, and to distribute actuation forces occurring during use. The safety shield includes a crimped portion for transferring forces that occur during operation of an articulating instrument inserted therein to a handle assembly of the electrosurgical instrument. The electrosurgical instrument has a seal that reduces or prevents electrical current from flowing between the active electrode and shield assemblies. The electrosurgical instrument further includes a connector assembly for receiving a mating cable connector and for providing a fail-safe interconnection that is sealed to prevent breakdown between a shield and active conductor of the instrument. A second preferred embodiment of the electrosurgical instrument is adapted to be removably connected with a replaceable shield/connector assembly through which an electrosurgical insert is inserted. Furthermore, positioning of the shield with respect to the electrosurgical insert can easily be accomplished.
In view of the forgoing, it is an object of the present invention to provide an insert for an electrosurgical apparatus having a novel structure that securely attaches the insert to the electrosurgical apparatus.
It is another object of the present invention to provide an insert for an electrosurgical apparatus having a novel structure that permits quick, easy and secure attachment of the insert to the electrosurgical apparatus.
It is a still further object of the present invention to provide an insert for an electrosurgical apparatus having a novel structure that allows for quick and easy replacement of the insert in the electrosurgical apparatus.
It is yet another object of the present invention to provide an insert for an electrosurgical apparatus having a novel structure that can be quickly and easily attached to the electrosurgical apparatus while still providing enhanced resistance to rotation forces encountered during an electrosurgical procedure.
It is a further object of the present invention to provide an insert for an electrosurgical apparatus having a novel interface with the electrosurgical apparatus to redistribute actuation forces applied on that insert during operation.
It is a further object of the present invention to provide an insert for an electrosurgical apparatus having a protrusion that is received by the electrosurgical apparatus and that is used to actuate the electrosurgical insert.
It is another object of the present invention to provide a shield assembly for an electrosurgical instrument that provides a secure interconnection between the shield and associated insulating layers, and the instrument handle assembly to permit actuation force to be more directly transferred to the handle assembly.
It is still another object of the present invention to provide a shield assembly for an electrosurgical instrument that includes a crimped portion for transferring forces that occur during operation of an articulating instrument inserted therein to a handle assembly of the electrosurgical instrument.
It is a further object of the present invention to provide a shielded electrosurgical instrument having improved electrical insulation between the active electrode and shield assemblies.
It is yet another object of the present invention to provide a shielded electrosurgical instrument having a seal that reduces or prevents electrical current from flowing between the active electrode and shield assemblies.
It is another object of the present invention to prevent surface breakdown from occurring between an active electrode and a shield of an electrosurgical instrument.
It is still another object of the present invention to provide an electrosurgical instrument having an improved connector assembly adapted to receive a connector for supplying electrosurgical active potential and for providing interconnection with the electrosurgical instrument shield. It is another object of the present invention to provide an electrosurgical instrument having an improved connector assembly designed to provide redundant contact points to a shield of the electrosurgical instrument in order to provide for fail-safe operation of that instrument.
It is yet another object of the present invention to provide a cord connector assembly for interconnecting to an electrosurgical instrument and constructed to provide a seal to prevent liquids and other foreign matter from entering the electrosurgical instrument during a surgical procedure.
It is a still further object of the present invention to provide an electrosurgical instrument comprising an integral shield assembly adapted for use with a plurality of electrosurgical instruments such that the electrosurgical instruments can be selectively interconnected with, and positioned with respect to, the shield assembly.
It is an object of the present invention to provide an electrosurgical instrument that includes an integral handle/articulatable instrument assembly that is inserted through an integral shield/connector assembly within the sterile field.
It is an object of the present invention to provide a shield assembly for use with an electrosurgical instrument that can be easily removed and replaced in the event of damage or wear to the shield assembly.
It is an object of the present invention to provide a standardized electrosurgical instrument having a plurality of articulating replaceable/disposable instruments thereon that is adapted for interconnection with a standard, replaceable and/or disposable shield assembly.
It is an object of the present invention to provide an electrosurgical instrument having position means integrally formed therewith to permit position of the electrosurgical instrument with respect to a electrosurgical shield assembly.

Electrosurgical apparatus for laparoscopic and like procedures


Embodiments of this application provide a retransmission method and a device. After receiving feedback information transmitted by a receiving device based on first information indicated by a retransmission mode, a transmitting device uses second information indicated by the retransmission mode to generate data, and transmits the data to the receiving device based on third information indicated by the retransmission mode. In this process, a plurality of retransmission modes are set, so that when different retransmission modes are used, the first information used for transmitting the feedback information, the second information used for generating the retransmitted data, or the third information used for transmitting the retransmitted data is different. Therefore, objectives of reducing HARQ overheads and ensuring transmission efficiency, reliability, and latency performance of a wireless communications system are achieved.

With continuous development of communications technologies and continuous evolution of wireless communications systems, service types supported by mobile communication increase continuously, and there are also increasingly high requirements on rates, reliability, and latencies of the wireless communications systems. To ensure efficiency and reliability of physical layer transmission, an adaptive modulation and coding (AMC) technology and a hybrid automatic repeat request (HARQ) technology are jointly used in a wireless communications system.
Specifically, in the AMC technology, a modulation scheme and a coding rate that can fully and effectively utilize a channel capacity are selected based on real-time channel state information to improve transmission efficiency. Because the channel state information may be inaccurate, an error exists. To ensure reliability, a HARQ mechanism is used to feed back a transmission result, so that incorrectly transmitted data is retransmitted. During retransmission, an amount of retransmitted data is the same as an amount of initially transmitted data, in other words, an amount of data retransmitted each time is the same as the amount of initially transmitted data.
For full utilization of the channel capacity, an operating point of the wireless communications system, in other words, an initial block error rate (iBLER), is relatively high, for example, is 10%. The relatively high operating point causes HARQ retransmission overheads to increase, although transmission efficiency is improved. To reduce retransmission overheads, a transmitting device in the wireless communications system uses a relatively fixed amount of retransmitted data (referred to as a granularity of retransmission or a length of the retransmitted data) at each time of retransmission based on a feedback of a receiving device. The granularity of retransmission is less than an amount of initially transmitted data (referred to as a granularity of initial transmission or a length of the initially transmitted data), and therefore unnecessary overheads are reduced.
However, in the process of reducing HARQ overheads, the receiving device needs to provide the feedback, causing feedback overheads to increase. In comparison with a retransmission mode in which an amount of retransmitted data is the same as an amount of initially transmitted data, when reliability is the same, a retransmission mode with a relatively small fixed amount of retransmitted data has more overheads and a higher latency. Therefore, how to ensure transmission efficiency, reliability, and latency performance of the wireless communications system while reducing the HARQ overheads is indeed a problem to be resolved in the industry.


An improved floating boat lift incorporates a passive hydraulic pivoting lift mechanism, onto which a boat can be driven and positioned ready for storage using only the motive power of the boat itself. The passive hydraulic pivoting lift mechanism provides mechanical advantage in the pivoting action of the apparatus by way of passive hydraulic action, while at the same time dampening pivoting of the apparatus. Embodiments further allow for adjusting the elevation of the pivot point relative to the surface of the body of water by way of adjusting the buoyancy of the pivoting lift mechanism.

Various apparatus have been devised for dry-docking boats. Pleasure boats of the kind to which the present invention is particularly adapted are thought of, for purpose of the present description, as being generally within the range of about fifteen feet to twenty-four feet in length and within the range of about 800 pounds to 6000 pounds in weight. Apparatus for docking pleasure boats has been associated with both non-floating as well as floating docks. The use of such apparatus is intended to facilitate removal of a boat from the water, maintaining the boat in a stored position elevated above the water, and for launching of the boat into the water.
Among the many methods known and used for lifting boats for dry docking, floating lifts (such as set forth in U.S. Pat. No. 7,021,861, issued Apr. 4, 2006 to the inventor of the present invention) are known to have particular advantages. Secured or anchored in some fashion, such lifts can provide dry docking for boats in areas which were formerly open water. Floating upon the body of water, such lifts provide convenient dry docking at a constant level above the surface, in contrast with fixed lifts whose use may at times be rendered difficult or impractical due to varying seasonal depth of the body of water. Floating lifts can provide dry docking in bodies of water in which securing a fixed boat lift is difficult, as in deep muddy or sandy bottoms. Floating lifts may also be relocated with considerably greater ease than fixed boat lifts.
An improved form of floating boat lift apparatus is illustrated in U.S. Pat. No. 6,602,022 to Wilkins, incorporated herein by reference, in which a tilting apparatus, installed in a floating boat well, receives a boat driven by its operator. The apparatus is then tilted about a pivot point, thereby elevating the boat in dry dock. In some embodiments, the lift mechanism, responsive to the change in weight distribution on the apparatus caused by the receipt of the boat, pivots on its own and elevates the boat. In other embodiments, after the boat has been received by the apparatus, it is necessary to use a winch or other mechanical assist to tilt the mechanism to elevate the boat.
Advantageously over the prior art, Wilkins provides an apparatus that incorporates a single pivotal frame onto which a boat can be driven and positioned ready for storage using only the motive power of the boat itself and which can be pivoted so as to either elevate the boat above the water for storage or discharge the boat into the water for further use.
However, the operation of Wilkins boat lift is subject to several shortcomings. First, the elevation of the pivot point relative to the boat well (and therefore its elevation relative to the surface of the water) is fixed in Wilkins lift. It is desirable to allow adjustment of the elevation of the pivot point relative to the surface of the water in order both to optimize the tilting operation of the lift and to provide adequate clearance of the boat from the water for dry dock purposes when the lift is in the elevated position.
Second, no additional mechanical advantage is employed by Wilkins to augment the leverage provided by the change in weight distribution caused by receipt of the boat. Indeed, in embodiments elevating the boat above a relatively low height above the water (approximately six inches) or when elevating heavier boats, the Wilkins lift does not tilt on its own, instead requiring the use of the aforesaid winch or other mechanical means to effect tilting of the mechanism to elevate the boat. It is desirable to provide augmentation of the leverage provided by the weight of the boat, in order to allow the lift to be pivoted to the elevated position with greater ease and to provide for embodiments in which boats may be elevated above relatively low heights by operation of the apparatus on its own without the need for additional mechanical means to effect tilting.
Third, Wilkins does not provide a damping functionality for his tilting apparatus: in embodiments relying on change in weight distribution to effect tilting, as the apparatus is tilted to elevate the boat and the center of gravity of the mechanism passes over-center of the pivot point, the lift apparatus settles to the elevated position in an abrupt fashion which can be jarring for the boat operator and tends to cause wear and fatigue of the lift mechanism.
What is needed is an improved floating boat lift, having a pivoting lift mechanism onto which a boat can be driven and positioned ready for storage using only the motive power of the boat itself, but which also further provides mechanical advantage to augment the leverage provided by the change in weight distribution caused by receipt of the boat while providing a damping functionality to mitigate abrupt pivoting of the apparatus. What is needed further is such a floating boat lift that affords a means of adjusting the elevation of the lifting pivot point relative to the body of water.

Floating drive on boat docking apparatus


The present disclosure discloses a canopy frame with an auxiliary opening mechanism, which includes a top connecting base, a plurality of frame rod sets, a middle connecting base, a bottom connecting base, an elastic member, and a first positioning mechanism. Each of the plurality of frame rod sets includes a standing column, a canopy rod set, a first support rod, and a second support rod. The canopy rod set includes a first canopy rod. The auxiliary opening mechanism includes the middle connecting base, the bottom connecting base, the elastic member, the first positioning mechanism, the first support rod, and the second support rod. The canopy can be unfolded more effortlessly, and even a single person can complete an unfolding operation of the canopy.

Protecting structures of camping gear are generally divided into tents and canopies. One of the differences between tents and canopies is an upper and lower positional relationship between a tarpaulin and a rod frame. Tents comprise a tent frame (e.g., the rod frame) and the tarpaulin disposed under the tent frame. Canopies comprise a canopy frame (e.g., the rod frame) and the tarpaulin disposed on the canopy frame.
Existing canopy frames comprises a top connecting base and a plurality of frame rod sets. Each of the plurality of frame rod sets comprises a standing column, a canopy rod set and a support rod. A top of the standing column comprises a mounting base, and the standing column comprises a sliding base. The canopy rod set comprises a first canopy rod and a second canopy rod. An inner end of the first canopy rod is rotatably connected to the top connecting base, and an inner end of the second canopy rod is rotatably connected to an outer end of the first canopy rod. An outer end of the second canopy rod is rotatably connected to the mounting base. A lower end of the support rod is rotatably connected to the sliding base, and an upper end of the support rod is rotatably connected to the second canopy rod. A scissor mechanism is further disposed between the mounting base, the sliding base of a first standing column and the mounting base and the sliding base of a second standing column, which is adjacent to the first standing column. The scissor mechanism comprises at least one scissor unit. In order to keep the canopy frame in an unfolded state, it is necessary to provide a locking mechanism between the standing column and the sliding base. Therefore, existing canopy frames have the following deficiencies. First, when being folded, it is necessary to release the locking mechanism between the standing column and the sliding base, resulting in the operation step being complex and an unfolding process or a folding process being inconvenient. Second, when being unfolded, it is necessary to push the sliding base relative to the standing column. In order to ensure that the plurality of standing columns push up relative to the sliding base synchronously, multiple people may be required to work together, and confirming whether the locking mechanism is in a locked state is complex. Therefore, the unfolding process or the folding process is inconvenient.
In response to the above deficiencies, some people have proposed solutions.
For example, in Chinese patent CN207714893U, a plurality of bottom connecting bases is added in the original canopy frame, and a rotatable rod is rotatably connected between a bottom connecting base and a first canopy rod. A first end of the rotatable rod is rotatably connected to the bottom connecting base, and a second end is rotatably connected to the first canopy rod. A foldable rod set is disposed between the top connecting base and the bottom connecting base, and a tension spring is disposed between the bottom connecting base and the top connecting base. The canopy frame is assisted to be unfolded by the tension of the tension spring, and a distance between the bottom connecting base and the top connecting base is limited by a shortest length position of the foldable rod assembly. The distance is therefore limited by the foldable rod assembly. The rotatable rod and the first canopy rod define a triangular structure, which is configured to keep the canopy frame in an unfolded position.
In U.S. Ser. No. 10/060,153B2 or Chinese patent CN109667467A, a plurality of bottom connecting bases is added, and a rotatable rod is rotatably connected between a bottom connecting base and the first canopy rod. A first end of the rotatable rod is rotatably connected to the bottom connecting base, and a second end of the rotatable rod is rotatably connected to the first canopy rod. A positioning rod is fixedly disposed under the top connecting base. When being unfolded, the bottom connecting base passes through a dead point, and the bottom connecting base abuts the positioning rod. A distance between the bottom connecting base and the top connecting base are limited. Therefore, the distance is limited to make the rotatable rod and the first canopy rod define a triangular structure, which is configured to keep the canopy frame in an unfolded position.
The above-mentioned canopy frame is maintained in an unfolded state by locking a distance between the top connecting base and the bottom connecting base, which results in a complicated structure and a high cost structure.

Canopy frame with an auxiliary opening mechanism

Xiamen Roadzup Outdoor Products Co., Ltd.