A device for positioning and locking rods, pins or wires, particularly for an external fixator in the field of orthopaedics is provided. The device comprises two jaw faces and a tightening assembly exhibiting a connecting element secured to a tightening member, the assembly allowing the jaws to form at least one opening exhibiting at least one cavity in the form of a gripping jaw allowing a hoop, a rod, a pin or a wire to be clipped by pressure against the action of an elastic member keeping the device in position prior to the locking action which is performed using the tightening member.

1. Field of the Invention.
The subject of the present invention is a device for positioning and locking rods, pins or wires, particularly for an external fixator in the field of orthopaedics. More particularly, it relates to a clamping device used as a support piece in osteosynthesis and osteoplasty to be incorporated into external fixator elements when a bone is fractured.
2. Description of Prior Art.
There are a great many support pieces or clamps on the market for producing fixation assemblies to meet the ever-increasing demands of orthopaedic surgery. Those selected should be those which are more able to fulfil their function through their simplicity and their ease of handling, time being an extremely important factor in such operations. Although external fixators have been in existence for some time, the support pieces are still evolving in order to provide better solutions for various problems often encountered.
U.S. Pat. Nos. 4,784,125 and 5,095,919 relate to a hoop element and also an external fixator in which this hoop element is incorporated with the members for fixing pins and wires intended to be used in osteosynthesis and osteoplasty.
European Patent EP 0 321 472 describes an articulation element for the relative positioning of fixing rods or bone pins of an external fixator. This articulation element comprises a number of pairs of gripping jaws which on the adjacent faces exhibit slots which form a passage intended to accommodate a rod or a pin. The angular position between the said pairs can be locked and there is a tightening element passing through the said pairs of gripping jaws to tightly clamp the rods or pins in a relative position. Furthermore, the gripping jaws which form a pair are equipped respectively with a positioning projection and with a cutout of a complementing shape.
U.S. Pat. No. 5,752,954 relates to an articulation device for components of an external fixator. This device allows for the relative positioning of fixing rods or pins and comprises two pairs of gripping jaws arranged in such a way that an elastic element acts against the gripping jaws and press the adjacent faces of the gripping jaws in order to lock the articulation device. In their adjacent faces, the gripping jaws have slots which are positioned and arranged in such a way to exhibit an opening allowing a rod or pin to be clamped by pressure. The teachings of U.S. Pat. No. 5,752,954 are incorporated herein by reference.
The holding and clamping devices known from the prior art have the disadvantage of not holding themselves in a chosen position when they are attached to rods, bars or pins. The user therefore has to maintain the correct relative positioning of the rods, pins and wires until such time as he performs the tightening or locking operation.
The object of the present invention is to overcome this drawback and to provide a device which holds itself in its assembled position, which can be adjusted, until such time as the assembly is tightened or locked.
The present invention corresponds to a device for positioning and locking rods, pins or wires, particularly for an external fixator in the field of orthopaedics. The device comprises two external jaws and a tightening assembly. The tightening assembly has a connecting element secured to a tightening member. The assembly allows the jaws to form at least one opening exhibiting at least one cavity in the form of a gripping jaw allowing a hoop, a rod, a pin, bar or a wire to be clipped by pressure against the action of an elastic member which keeps the device in position prior to the locking action which is performed using the tightening member.
According to one embodiment, the connecting element is a bushing which passes through the two jaws and can have placed inside it a retained rod which is designed to be locked with the jaws by the tightening member. The elastic member is a spring in the form of a staple connecting the two jaws, at the opposite side of which is the clipping or gripping zone which has the opposing clamping faces; it may be a single or double spring. The free ends of the staple forming the spring are introduced into orifices in the jaws. According to another embodiment, the elastic member is an axial tension or coil spring. In both embodiments, the two jaws have assembly notches which position them relative to one another.
The jaws and the bushing have devices which prevent one from rotating relative to the other. The upper jaw member has a conical recess and a cylindrical bore for accommodating the bushing, the lower jaw having a bore which has two opposed flat surfaces to play a part in mating with the bushing, the latter having two opposed flat surfaces in its central part in the direction of its axis which correspond with those of the lower jaw member to make it easier to fit into the said lower jaw face.
The bushing, which is cylindrical, has an upper part in the form of a truncated cone with slots in the direction of its axis to allow the rod to be clamped tightly once it has been placed inside it. The bushing has its lower part threaded with a diameter appropriate to that of the tightening nut.
According to another embodiment, the connecting element is a shank passing through a ring connected to a rod, the upper jaw being placed at one of the ends of the shank, around which the lower jaw and the tightening nut are positioned.
According to this same embodiment, the two jaws exhibit an opening in the form of a gripping jaw with at least one cavity allowing a pin or a wire to be clipped and then clamped within the jaws. The two jaws have balls made of a hard material placed alternately between the cavities to assist with locking the wire housed inside it.
The nut is advantageously produced in the form of a ribbed knob screwed around the lower part of the shank which allows the entire device to be kept assembled. A toothed annulus is inserted between the ribbed or knurled knob and the post to set the angular position of the device which will thereafter remain locked once the ribbed knob has been tightened. The device comprises an axial helical spring between the ring and the toothed annulus.
According to a third embodiment, the connecting element is in the form of a bolt, the free end of which is threaded to screw into a bore in the post, the bolt passing through a clamp delimiting at least one gripping jaw in the form of a slot placed transversely with respect to the connecting element, the material placed between the bottom of the slot and the external surface of the clamp acting as a spring.
According to any one of the embodiments, the device is able to act as a support piece for an external fixator comprising a circular or part circular hoop formed from a bar of specified cross-sections, pins, bars or wires or rods, in which fixator the devices exhibit outer openings allowing the clipping of the hoop, of the pins and of wires and the fixing of the rods or of the said devices by their posts so that by tightening the devices, it is possible to achieve relative positioning thereof prior to locking.


Methods and devices are disclosed for identifying objects over a surface and for tracking the position of said objects in relation to the sensing surface. The methods include the steps of providing an array of electrodes or coils that generating electromagnetic radiation having a individual characteristic frequencies of oscillation. Objects in proximity to the sensing surface(s) couple electromagnetically to the array of electrodes or coils, which then alters the characteristic frequency of one or more elements in the array. By monitoring the individual frequency shifts among the array elements, one or more objects in proximity to the surface can be sensed and identified. Quantitative identification and enhanced detection of the objects is achieved through the use of electromagnetic markers affixed or embedded in the objects in specified geometric patterns. In addition, a method is presented for scanning the sensing array, through the use of a second layer of electrodes that selectively mask or modulate the sensing field.

1. Field of the Invention
The present invention generally relates to improvements in identifying, sensing, and tracking of objects in predefined spaces by electromagnetic means.
2. Background and Prior Art
There exists a great and increasing need to identify and to automatically detect the presence, orientation and movement of objects in a predefined area. Such objects can include a wide range of animate and inanimate things, such as people""s hands, pill bottles, tools, packages, toys, and many more. The applications for such automatic object detection and identification are numerous, including detecting a person""s activity over a work surface or interactive display; monitoring the inventory or theft of products on a retail store shelf; locating and aligning parts for robotic assembly in manufacture; and recreational games or toys relying upon placement and movement of objects, to name a few.
One common method of identifying and tracking objects employs a visible xe2x80x9ctagxe2x80x9d or target marking that is affixed to the desired object and uses a computer vision tracking system to monitor the object. U.S. Pat. Nos. 6,301,763, 5,828,770, and 4,672,562, incorporated herein by reference, disclose various machine vision methods for identifying and tracking the 3D movement of objects. While the low cost of such optical tags and markers is an attractive feature, the cost of the camera and vision system is not sufficiently low for many consumer applications. Additionally, vision-based systems require line-of-sight access between the visible marker and the detector, which is difficult to employ in non-controlled environments and lighting conditions, such as for home or retail applications.
Another method of detecting and tracking objects employs an xe2x80x9cactivexe2x80x9d electronic tag affixed to the object, which contains circuitry for transmitting a radio frequency signal that can be used by the host unit to determine the object""s identity, presence, orientation or movement. As an example, U.S. Pat. No. 6,204,764, incorporated herein by reference, discloses a method for identifying and tracking objects such as key cards and folders inside a filing cabinet drawers. Although radio-frequency tagging methods are robust and do not require line-of-sight, the expense of the electronic circuitry inside these tag makes this approach prohibitive for low-cost applications.
As a means of reducing cost, it is also possible to tag an object with an electromagnetically resonant structure, such as an xe2x80x9cLCxe2x80x9d resonator having an identifiable and detectable resonant frequency and Q factor. U.S. Pat. Nos. 6,020,849 and 5,386,219, incorporated herein by reference, provide a method for tracking such tagged objects over a surface using an electronic sensing array of coils or electrodes. This technology is commonly used in digitizing pen tablets and computer automated design (CAD) stylus input devices. While the electromagnetic tags employed in such systems are relatively low cost, the electronic switching circuitry and wiring required to multiplex the signals throughout the sensing array make these systems too costly for simple mass market products such as retail store displays, a home medicine cabinet shelf, or children""s toys.
Other methods for identifying objects have also been invented in the field of anti-counterfeiting and authentication. U.S. Pat. Nos. 5,434,917 and 3,878,367, incorporated herein by reference, disclose methods for identifying and authenticating credit cards through the use of randomly dispersed embedded magnetic particles that are detected as the credit card is swiped past a specialized scanner. U.S. Pat. No. 3,519,802, incorporated herein by reference, describes a method for electromagnetically marking a credit card through the use of embedded conducting plates; detection circuitry for this invention is not described. U.S. Pat. No. 5,992,601, incorporated herein by reference, discloses an apparatus for identifying and sorting currency that has been tagged with specific patterns of magnetic ink. While such anti-counterfeiting and authentication technologies provide a rudimentary means of identifying objects, the detection means is generally limited to specialized scanning and sorting apparatus with fixed geometries, and not adaptable or scalable to surfaces such as table tops, desks, shelves, retail display fixtures, or game boards. Additionally, these inventions do not provide a means for tracking the position or orientation of objects over a surface.
The present invention provides a method of identifying objects over a surface and a means for determining the position and orientation of the specified objects with respect to the sensing surface. The present invention combines the low-cost advantage of using vision-based tags (e.g. barcodes) with the versatility and security of electronic tagging methods. Furthermore, the present invention can be easily implemented with a conventional manufacturing process, such as printing or attaching a label, and still achieve the ability to operate via non-optical means, such as through a table-top or through packaging material such as an envelope, plastic casing, or product label.
The present invention entails the use of a reference surface, comprised of an array of electrodes or coils generating electromagnetic radiation having a characteristic frequency of oscillation, typically in the range 1-50 MHz. The objects in proximity to the sensing surface couple electromagnetically to the array of electrodes and coils, which then alters the characteristic frequency of one or more elements in the array. The resulting frequency shifts are thus an indirect measure of the electromagnetic response of the object. By monitoring the individual frequency shifts among the array elements, one or more objects in proximity to the surface can be sensed.
Changes in the characteristic frequencies of the elements are measured using a threshold detector and frequency counter, both of which can be easily implemented using a low-cost microcontroller, for example. Although changes in the sensing field induced by the object can also be monitored by other standard methods, such as measuring changes in the amplitude or phase of the sensing voltage, the technique of frequency-counting is much more inexpensive, requiring a minimal number of electronic components.
For most applications of this invention, the area of each sensing element (electrode or coil) in the sensing array would typically be in the range of 0.1 square centimeters to 100 square centimeters. A densely-spaced array of small sensing elements provides better lateral resolution; however, larger sensing elements provide a greater detection distance, since they produce probing fields that extend a further distance perpendicular to the array surface. In a given application, a combination of large and small sensing elements can also be used.
In the first embodiment of the present invention, rudimentary identification and detection of each object is accomplished by noting the intrinsic electromagnetic response of the material comprising the object (for example, distinguishing between a plastic box, a metal box, or container of milk). The characteristic electromagnetic properties of the objects can be intrinsic to the object or can be engineered, such as through the use of electrically conductive, magnetic, or dielectric materials applied to the object.
More significantly, for the case of a plurality of objects having similar electromagnetic properties, such as a stack of magnetic-ink-coated paper, this embodiment enables the ability to estimate the quantity of objects present. This ability is particularly relevant for inventory-monitoring applications, such as counting the number of greeting cards in each pocket of a display rack, or counting the number of magazines in a vending machine row.
In a preferred embodiment of the present invention, a quantifiable method of object identification is further achieved through the use of electromagnetic markers, such as electrically conductive or magnetic patches, that can be either printed or embedded onto (or into) the object in a specific coded pattern. Given a known electromagnetic response and spatial distribution of the markers, the object can be uniquely identified and its 2D orientation ascertained. Using a large array with greater surface area, multiple objects can also be detected and identified simultaneously.
The present invention also provides a means for determining the lateral position of a specified object or objects. Given an electrode array that is larger than the size of the objects and/or electromagnetic marker pattern, the position of the object can be determined within a resolution limited by the density and number of electrodes in the array. In general, the sensing elements (electrodes or coils) should be closely spaced in order to increase lateral positioning resolution; however, each sensing element must be sufficiently large to adequately couple electromagnetically to the object over the surface.
The noted method also provides a means to determine the orientation of the object relative to the sensing surface. A non-rotationally symmetric 2-dimensional pattern of markers embedded in the surface of the object facing the sensing surface enables the system to determine the 2D orientation of the object. By affixing or embedding the aforementioned electromagnetic markers to all faces of the object""s surface, such that each face is distinguishable from every other face, it then becomes possible to obtain a simple determination of the object""s 3D orientation. By way of example, one application of this technique could be a system or method for determining the orientation of a die in a casino board game.
A further embodiment of the present invention involves the use of a second layer of electrodes that are used to modulate or mask-off portions of the electromagnetic field produced by the sensing array. This xe2x80x9cmodulation layerxe2x80x9d thus enables the surface array of the array to be scanned electronically by activating or xe2x80x9cunmaskingxe2x80x9d only one section of the sensing array at a time. Although it is possible to use a conventional approach to multiplex the radio frequency electronics to the sensing array, the cost of a multiplexer and switches for these radio frequency signals is prohibitive for low-cost applications. Therefore, the a motivation for the masking layer of the present invention is to the lower cost and complexity of the system by providing a means for a single set of radio-frequency electronics (oscillator, frequency counter) to selectively monitor each of the potentially large number of electrodes in the sensing array. In addition, careful control of masking enables the system to have an additional degree of control with which to create a spatial mapping of the electromagnetic properties of the object. Note that in order to modulate or mask the sensing field, the electrodes in the modulation layer only need to be connected to electrical ground and do not need to carry a radio-frequency signal. Therefore, this embodiment makes it possible to scan the sensing array using simple low-cost electronic switching components.
Finally, in a further embodiment of the present invention, the modulation layer mentioned previously can also be employed to convey digital information to an electronic device that is proximal to the sensing array. It is noted that the operation of the modulation layer to mask or unmask portions of the array inherently produces a two-state amplitude modulation of the sensing field (corresponding to switch open or switch closed). Any electronic device tuned to the particular frequency of the array, such as 13.56 MHz, can readily detect and monitor these amplitude modulations. Thus, by modulating the sensing field in a recognizable time-sequence, the sensing array can convey digital information to the proximal electronic device.

Methods and devices for identifying, sensing and tracking objects over a surface


A peritoneal dialysis catheter with two, linearly mated conduits contoured to cooperatively define a substantially circular cross sectional profile along a medial, trans-abdominal segment, but separating on either end of the medial, trans-abdominal segment, on a distal end to join fluted fluid transport branches and on proximal ends to join fittings for fluid delivery and collection external of the patient.

1. Field of the Invention
The present invention relates to medical catheters and to peritoneal dialysis catheters in particular.
2. Background Information
The foldable peritoneal dialysis catheter as disclosed in U.S. Pat. No. 5,322,519 (xe2x80x9cthe Ash catheterxe2x80x9d) represented a substantial advance in peritoneal catheter design and technology. However, the design of the Ash catheter leaves certain characteristics of the ideal peritoneal dialysis catheter lacking.
The only feasible embodiments of the Ash catheter invention or those designed for inflow or outflow, but not both. Ash does teach the basic concept of a peritoneal dialysis catheter for continuous use (Column 4, lines 54 et seq.), in other words, one which includes separate conduits for simultaneous inflow and outflow. However, Ash fails to provide an actual, workable design.
Ash""s FIG. 4 depicts a proposed design for a continuous use peritoneal catheter, but one which simply cannot be made when existing technology is applied to the silicone material from which such catheters must be made. For example, Ash""s septum 128 must, in order to be operative, form a fluid seal with the inner wall of housing 122. Even if this were possible to achieve in the manufacturing process (which experts in the silicone extrusion and manufacturing industry indicate it is not), the resulting catheter would be too rigid (because of the added rigidity of such 128) to be suitable for implantation. In addition, the T-configuration shown for this embodiment would, in actual application, causes accumulation of biological debris (and ultimately clogging) near the 90 degree bends in the conduits.
Ash""s alternative continuous dialysis catheter design (shown in Ash""s FIG. 8) is also a non-viable design suggestion. Merely conjoining two parallel conduits (Ash""s xe2x80x9cplenum chambersxe2x80x9d 146 and 148) creates a cross-sectional footprint (other than substantially circular) which is not suitable for passage through, and long-term residence in the abdominal wall because of increased propensity for leakage, bacterial invasion, etc.
It would well serve those who administer and those who receive peritoneal dialysis to provide a viable design for a continuous use peritoneal dialysis catheterxe2x80x94one which provides all the benefits of the viable embodiments of the Ash single direction flow catheter, but goes farther in satisfying the remaining, unfulfilled objectives for an Ash-like catheter for continuous dialysis use.
It is an object of the present invention to provide an improved peritoneal dialysis catheter.
It is another object of the present invention to provide an improved peritoneal dialysis catheter which is suitable for continuous use (allowing simultaneous inflow and outflow).
It is another object of the present invention to provide an improved peritoneal dialysis catheter which is suitable for continuous use, and which is of a design which can feasiblely be manufactured using available manufacturing technology and methods.
It is another object of the present invention to provide an improved peritoneal dialysis catheter which is suitable for continuous use, it presents an ideal, circular cross-sectional contour of portions of such catheter as pass through and reside in the abdominal wall of a recipient.
It is another object of the present invention to provide an improved peritoneal dialysis catheter which is suitable for continuous use, and which is of a design which minimizes the chances of conduit occlusion because of highly angular diversions of the conduits.
In satisfaction of these and related objects, the present invention provides an improved peritoneal dialysis catheter which, because of seemingly minor, but highly significant modifications from prior art designs, is unique in its manufacturerability and its capacity to serve as continuous use peritoneal dialysis catheter without undue patient complications.
The peritoneal dialysis catheter design of the present invention, in the preferred embodiments, utilizes linearly mated conduits for that portion of the catheter which passes through the patient""s abdominal wall (the trans-abdominal segment) and which cooperatively defined a substantially circular cross-sectional footprint. This feature provides the optimum cross-sectional footprint for lessening the likelihood of leakage and infection. Also, the present design avoids using a T-joint configuration as the transition from the trans-abdominal wall segment the catheter to the peripheral fluid transport branches which reside within a patient""s abdomenxe2x80x94such a T-joint configuration creating a propensity for clogging near the angular conduit deviations, as well as creating excessive bulk which impedes implantation. Rather, the design of the present invention, because of the nested conduit design which lacks a septum has taught by Ash, is capable of actual manufacture, allows for the aforementioned circular cross-section for the trans-abdominal wall segment, and permits the transition from the trans-abdominal wall segment to the fluid transport branches of the catheter to proceed along a non-angular path.


A bridge surface preparation, maintenance and painting system has a truck-mounted man lift with an extensible platform on which robot arms and cameras are mounted. Inflatable bags isolate the area of the bridge being worked on, and an apron catches debris such as from sand blasting. An operator sits at a remote control console on a truck, directs the man lift platform into position, controls the inflating of the barriers and operates and guides the robot arms through master-slave controls while watching video displays. The machine is used for surface preparation, undercoating, finish coat painting and bridge inspections.

Bridges, especially bridges over highways, require vigilant maintenance to protect their strength.
Highway maintenance trucks have been developed in which the entire bed of a truck is raised on scissor movements so that workers can access bridge beams and superstructures directly for cleaning, chipping and sand blasting, and subsequently for painting.
The bridge maintenance work is difficult, dirty, environmentally exposed and highly skilled work and is therefore accomplished at great expense. The work is especially dangerous because the work requires being physically close to speeding traffic, closing busy highway lanes and erecting appropriate warnings and barriers. Moreover, the job is extremely dangerous because contact of the support truck by fast moving traffic might result in jarring of the raised truck bed and ejecting of a person from the raised bed onto the roadway surface below.
Because of the natures of the coatings and the coating removing processes which are employed, it is necessary for workmen to wear heavy protective gear. The heavy protective gear makes working conditions extremely difficult and results in prolonged efforts required for maintenance of individual bridges.
A need exists for a system which avoids the expenses, dangers and discomforts of the prior art systems.
One process especially suited to robotics applications is bridge painting. Poor worker safety and the inefficient labor intensive procedures used in bridge painting presents an opportunity to apply robotics technology to that process in a cost effective way.
This invention improves safety and at the same time reduces the cost of bridge painting. Other designs have tried to improve productivity by providing the workers easier access to work spaces or through more efficient hand tools. However, no previous attempts to improve the process have been successful.
Superstructures of highway overpasses are the areas targeted by this invention. Those types of bridges comprise the majority of bridge structures in this country. Although those structures can vary in dimension, they maintain the same basic beam stringer type structural characteristics consisting of consecutive I-beams spanning supports. That provides a certain degree of conformity, enabling an automated containment process.
The invention includes the tools necessary to accomplish all tasks associated with stripping and repainting bridge surfaces. Viewing the work space through remote cameras located atop the robot arms and at either end of the platform, the worker controls the unit from the ground using a control panel and an interactive master-slave manipulator. That eliminates the need for workmen to ascend to the work space, thus preventing exposure to the harmful particles generated during this process and to falls due to accidents.
The system has two robot arms shielded in latex sleeves and mounted atop a platform. The platform is positioned beneath the targeted structure using a mobile hoisting system modified from a man lift. A control unit containing both the master manipulator and a control panel is affixed to the man lift, enabling the entire system to maneuver independently. Once in position, containment barriers are deployed to contain the work space, and work commences.
The entire system can be carried aboard a truck. The man lift is capable of either operating from atop the truck bed or maneuvering off the bed to locations inaccessible to the truck. Unlike conventional methods, this system disrupts only one lane of traffic when in operation.
To accomplish the goal of automating this process, a new control system is created. An existing platform system is modified to suit the application. That platform is raised into position, carrying the robot arms and their supporting gear. A vision system is employed to enable the user to view the work space adequately from a remote location. A gripper adds dexterity and flexibility to the arms. A paint removal and collection system and a new automated containment system prevents lead from escaping into the environment. A single control panel integrates the controls of each of the system""s utilities.
The new control approach allows the user to feel the forces exerted by the remote arm. A master manipulator is included. In one embodiment, a controller controls three degrees of freedom. The control system may have six degrees of freedom plus a gripper.
The invention provides a integration of various systems such as a paint application system, a sand blasting system, a vision system, a gripper, a surface cleaning system, and a canvas and inflatable containment system.
A platform carries the system up to the bridge I-beams and facilitates use of the various systems.
A commercially available robot arm and controller is employed. Modifying an existing arm facilitates needs.
Preferred robot arms have eight degrees of freedom. They consist of a three-joint wrist, an elbow joint and a two-joint shoulder. That part of the arm consists of six joints and is similar to a Puma manipulator and a human arm. The human arm has a three-joint shoulder instead. Such similarities are important, since they provide good intuition when controlled by a human arm via a master manipulator. The arm is mounted on a two axis table with one horizontal axis and one vertical axis. The two linear motion degrees allow the tool to move efficiently along two linear directions and ease control of the master. The overall eight joints provide good dexterity for the robot, helping it avoid obstructions.
A master-slave control system is capable of interactive control. This configuration allows an operator to control the robot arm by simply inserting his arm into a sleeve. Then whatever movement the operator executes with his arm is duplicated by the remote robot arm. However, unlike conventional master-slave manipulators, the invention provides the user with the ability to feel the actions of the remote arm in real time through a controller force feedback system.
In a new force control approach, the axes on the master manipulator are equipped with encoder motors. When the user begins to move his arm, the master manipulator sends pulses from the encoders to the controller. The pulses are used as desired positions to implement a proportional derivative control algorithm in the controller. The controller then generates a current for the motors on the slave robot based on that algorithm to bring the slave robot arm back into synchronous motion with the master controller.
A fraction of the current generated for each of the slave robot arms axes is diverted to the corresponding joint motors of the master manipulator by way of a current divider. The resultant motor torque opposes the motion of the master manipulator. That opposition is felt by the operator. Since current is proportional to torque, the operator feels a proportional torque representative of the forces applied on the remote arm.
The result of this control capability is that it gives the operator the ability to apply precise forces to objects within the arm""s environment. That is accomplished by using a human in the control loop. The implemented position and force control is then greatly simplified by the elimination of complex position and force control algorithms, force sensors, and interfacing microprocessors common to other force feedback systems.
Once the arm is in contact with an object, the user can increase the forces applied by continuing to move the master in the object""s direction. That results in an increase in the difference between desired and actual positions, causing the controller to increase current to both the master and slave motors.
The current divider also simplifies the system by allowing use of an off-the-shelf controller with only minor modifications and no additional axes capabilities. All of these simplifications help reduce development time and cost.
This system prevents the user from inadvertently damaging the robot arm by limiting the motor currents. That is accomplished by adjusting the opposing currents in the master manipulator, enabling it to physically prevent the user from exceeding predetermined limits.
In one embodiment, the invention is accomplished using a Universal Master Controller with a Puma Mark 2 robot arm.
The Universal Master Controller allows programming a control algorithm with the ability to control 16 axes simultaneously. The finished system uses the current divider to provide current to the master manipulator motors. The extra axes available on the controller are used for redundant checks. That enables varying of parameters, allowing determination of design requirements for the current divider.
Because of the high cost of the Universal Master Controller and the Puma arm, other embodiments use economical types of controller systems and robot arms.
A platform is used for carrying the arm and its supporting gear up to the bridge structure. The platform also initially lifts setup workmen and their gear to the work space.
This platform performs several functions. First, it is capable of positioning the arms beneath the work space. Second, the platform collects and recycles the abrasives used to remove the old coatings, as well as other debris generated during other processes. Third, the platform contains a vision system that enables the user to adequately view the work space. Fourth, the platform contains the area being worked on to prevent fine chips of the lead paint being removed and aerosols of the paint being applied from escaping into the environment.
The platform is raised into position using a man lift. That type of lift is mobile, has a vertical ceiling of 65 feet, and extends horizontally, allowing the system to access remote areas. The robot arms are capable of moving back and forth across the top of the platform to better access the work space. That is accomplished using two independent linear motion systems, one for each arm.
To compensate for the different angles the man lift uses to reach the work space, the platform repositions itself parallel to and level with the targeted I-beams. That requires a positioning system attached to the end of the man lift capable of rotating and repositioning in the x-z and y-z planes. That is accomplished using a three degree of freedom gearing system between the platform base and the man lift.
A collection and filtration system significantly smaller than ones used in the large containment areas is used for filtering the air and for recycling the aggregate for reuse in the paint removal process. That also aids the containment effort by providing a negative pressure in the contained work space.
Two stationary cameras are mounted on adjacent ends of the platform to allow the user to view the entire arm. That enables the operator to see the general position of the arm and aids in avoiding obstructions. Cameras also ride atop each arm, enabling the user to view the areas being worked on.
A barrier containment system is provided. Once in position, the platform contains the work space to prevent lead paint and other particles from escaping into the environment. That is accomplished in part by deploying either inflatable panels or a combination of inflatable and canvas barriers to seal off the areas.
By using a collection and filtration system, a vacuum is created in the containment area. The system filters air extracted from the work area and expels clean air back into the environment. The creation of a vacuum in the work space prevents dust particles from escaping through small gaps that may exist around the barrier periphery. A separate high velocity fan allows for a large air flow through the contained area, while preventing particles from escaping.
The barrier system is remotely positioned and deployed. Inflatable panels conform to the many different dimensions encountered when working on the bridge structures. An assortment of differently dimensioned barriers facilitates meeting requirements imposed by different dimensions and spacing of the targeted I-beams. That is similar to blowing up a rectangular shaped raft inside a rectangular containment space.
When working between I-beams, the ends of the work space are contained. The gaps between the base and the bottom sides of the I-beams are filled. For the ends, inflated rectangular barriers are movable to adjust the length of the contained area, enabling adaptability while avoiding obstructions. The sides are sealed by using inflatable cylinders and positioning them against the side opposite the contained area. That approach allows access to the underside of the I-beams.
The exterior sides of the bridges, the facia, also have to be contained. That involves containing the top and one side of the work space as well as the ends. The ends of that work space are contained using the same inflatable barriers used between the I-beams. The top and one side are contained using either an adjustable canvas system or another inflatable barrier system.
A preferred bridge surface preparation, maintenance and painting system has a truck-mounted man lift with an extensible platform on which robot arms and cameras are mounted. Inflatable bags isolate the area of the bridge being worked on, and an apron catches debris such as from sand blasting. An operator sits at a remote control console on a truck, directs the man lift platform into position, controls the inflating of the barriers and operates and guides the robot arms through master-slave controls while watching video displays. The machine is used for both surface preparation and undercoat and finish coat painting, as well as for preliminary, final and periodic inspections.
A robotic bridge maintenance system has a lift arm with a proximal end for supporting on a truck and a distal end. A platform is mounted on the distal end of the support arm for positioning adjacent bridge girders. Robots have bases mounted on the platform and extensible arms, and have working heads at distal ends of the robot arms. Bases move along the platform. Television cameras are mounted on the robots and on the platform. An inflatable bag is mounted on the platform for contacting a bridge beam and partially surrounding the television cameras and the robots. An apron is connected to the platform and extends around the platform for catching debris. A control console mounted on a truck has television displays connected to the television cameras, and has master-slave manipulators connected to the robots for directing the robots.
These and further and other objects and features of the invention are apparent in the disclosure, which includes the above and ongoing written specification, with the claims and the drawings.


A smart card with a card carrier on which a data processing circuit and also a connection assembly for the contactless communication of data between the data processing circuit and an external data processing station are provided. In the course of producing a prior art smart card, an integrated circuit is applied to a card carrier made of plastic. Afterwards, a transmitting/receiving coil connected to corresponding terminals of the integrated circuit is applied along the outer edges of the prior art smart card. In the case of the prior art smart card, the fact that defective prior art smart cards have to be destroyed is disadvantageous. According to the invention, the data processing circuit and the connection assembly are provided in a region of at least one module carrier and the card carrier has a region for accommodating the module carrier. This makes it possible firstly to test the completed module carrier in respect of its proper functioning before it is incorporated into a card carrier.

The invention relates to a smart card with a card carrier on which a data processing circuit and also a connection assembly for the contactless communication of data between the data processing circuit and an external data processing station are provided.
A generic smart card and an external data processing station form a data system that is used for counting cashless purchases, for monitoring passenger traffic or for simple charge management in the context of access to a telephone network. For such purposes, a user acquires a smart card on which a data processing circuit containing a microprocessor is provided. For the communication of data between the data processing circuit and the external data processing station, an alternating field generated by the external data processing station is modulated by the smart card in the case of contactless transmission methods. In this case, by way of example, a smart card coil provided in the connection assembly is subjected to a capacitive or resistive load in a varying manner over time, with the result that its electromagnetic properties alter. This has a reaction upon a station coil in the external data processing station. From the reaction, it is possible to draw conclusions about data stored in the data processing circuit.
The generic smart card is constructed as a plastic card large enough to be stowed securely in a purse, for example. In the course of producing the generic smart card, first of all an integrated circuit is applied to a card carrier made of plastic. Afterwards, a transmitting/receiving coil connected to corresponding terminals of the integrated circuit is applied along the outer edges of the smart card. Such a smart card is disclosed for example in Published, Non-Prosecuted German Patent Application DE 44 10 732 A1. In the case of the generic smart card, the fact that production is complicated and expensive is disadvantageous. If a smart card does not operate correctly, the defective smart card is destroyed.
Published, Non-Prosecuted German Patent Application DE 44 37 721 A1 shows an electronic module for incorporation into a data carrier, the electronic module has an integrated circuit which is disposed on a module carrier and is conductively connected to a coil for contactless data exchange.
It is accordingly an object of the invention to provide a smart card which overcome the above-mentioned disadvantages of the prior art methods and devices of this general type, which always operates reliably, and is produced reliably and with little outlay.
With the foregoing and other objects in view there is provided, in accordance with the invention, a smart card, containing a card carrier having a given region and at least one module carrier disposed in the given region of the card carrier. The at least one module carrier, includes a base plate; a connection assembly disposed on the base plate and having at least one transmitting/receiving coil with sections disposed in at least two different planes with respect to a main direction in which the base plate extends, the sections of the at least one transmitting/receiving coil operating in a synchronized manner with one another; and a data processing circuit. The connection assembly provides contactless communication of data between the data processing circuit and an external data processing station. In an alternative, the sections are configured such that the sections are kept in a resonance phase angle with respect to one another.
According to the invention, the data processing circuit and the connection assembly are provided in the region of at least one module carrier and the card carrier has a region for accommodating the module carrier or the module carriers.
The invention is based on the fundamental concept that the disadvantages in generic smart cards stem from the fact that only when the smart card has been completed is it possible to test whether the integrated circuit cooperates correctly with the transmitting/receiving coil. According to the invention, the parts which are essential for the functioning of the smart card, that is to say a functional assembly, are produced separately from the card carrier on the module carrier and connected to one another only during the final assembly of the card carrier and the module carrier. This makes it possible firstly to test the functional assembly in respect to its functioning. If it is established that the data processing circuit does not cooperate correctly with the connection assembly on the functional assembly, then the functional assembly can be destroyed without an inherently useful card carrier having to be destroyed as well. Furthermore, it is possible to accelerate the production of the functional assembly since the module carrier, which takes up only a small amount of space, makes it possible to provide smaller and faster production apparatuses.
According to the invention, the module carrier can be fixedly connected to the smart card, it being possible for that region which is provided on the card carrier for accommodating the module carrier also to be configured as a cutout. With a suitable configuration of the module carrier and the cutout, it is possible to ensure that a positively locking connection is already produced when the module carrier is inserted into the receptacle, the connection only having to be fixed.
A particularly advantageous smart card according to the invention is produced when the connection assembly has at least one transmitting/receiving coil which can also be disposed in two different planes with respect to the main direction in which the module carrier extends. In this case, provision is made, in particular, for a section of the transmitting/receiving coil to be disposed on a surface of the module carrier, while another section may be disposed in a layer inside of the module carrier. This can be achieved in a particularly simple manner by use of a two-layer metallization coating, a sandwich-like structure being particularly appropriate for the module carrier. In this case, the sections of the transmitting/receiving coil on the surface of the module carrier and inside the module carrier may be disposed in a plane-parallel manner, the individual sections being connected to one another by contacts. This can be achieved in a particularly simple manner by use of plated-through holes in the region of terminals of the respective transmitting/receiving coil regions. It is preferable for the individual sections of the transmitting/receiving coil to be connected in series, since this results in a transmitting/receiving coil which can influence an external alternating field with a high efficiency. In this case, a particularly high efficiency of the transmitting/receiving coil is produced when the transmission device, which is often part of the data processing circuit, is configured in such a way that the sections of the transmitting/receiving coil can be kept in a resonance phase angle with respect to one another. This can be done for example by suitably connecting in capacitances and/or inductances, this preferably being done in such a way that the resonant frequencies of the regions of the transmitting/receiving coil in each case correspond.
In a departure from this, or to supplement the above-mentioned embodiment, the transmission device may also be configured in such a way that the sections of the transmitting/receiving coil can be operated such that they are synchronized with one another. This can advantageously be done so as to result in amplification of the alternating field issuing from the transmitting/receiving coil. This is significant for active cards that emit a signal. By applying phase gating technology, it is possible to achieve synchronization of the signals in with the sections of the transmitting/receiving coil, to be precise in such a way as to result in amplification of an alternating field generated by the transmitting/receiving coil. In the case of passive cards, it is thereby possible to achieve a particularly high degree of coupling between the smart card and an external data processing station.
A further improvement in the transmission quality of data between the smart card and the external data processing station is produced when the module carrier has at least one section configured as a coil core for the transmitting/receiving coil. In this case, the module carrier may be formed from plastic into which permeable material such as ferrite, for example, is incorporated. If the permeable material is present as a multiplicity of ferrite particles, the latter are bound, for the purpose of mutual insulation, in a synthetic composition provided in the module carrier. The coil core produced in this way serves for achieving a high field amplification factor. Such a dielectric makes it possible to achieve relative magnetic permeabilities of the order of magnitude of 5,000 and thus high flux densities.
A method for producing the module carrier for the smart card configured in the manner described above has the following steps:
a. incorporating a first coil section into a plastic layer;
b. applying a second coil section to the plastic layer;
c. connecting terminal regions of the first coil section and of the second coil section to one another; and
d. applying an integrated circuit to the module carrier.
In this case, the step of connecting the terminal regions of the first coil section to the second coil section can be effected by through-plating, which can be achieved in a simple manner using known production methods.
The step of applying the integrated circuit can be effected either by a flip-chip technique or by conventional bonding techniques. In the case of the conventional bonding techniques, it is possible to have recourse to a conductive adhesive or to known solders as the bonding agent. Especially in the case of the bonding techniques, it is provided that not only the connection assembly but also the data processing circuit may optionally be covered with a hardenable covering composition, to be precise, in particular after the production of the module carrier. The covering compositions used for this purpose may be in particular thermally or UV curing.
The invention also relates to a method for producing a smart card which has the following steps:
a. providing a card carrier having a receptacle for a module carrier;
b. providing a module carrier according to the invention having a data processing circuit and a connection assembly;
c. introducing the module carrier into the receptacle; and
d. connecting the module carrier to the card carrier.
The method according to the invention enables a smart card to be produced in a particularly simple and cost-effective manner.
The above-mentioned production steps for producing the smart card according to the invention and/or the module carrier according to the invention with a double-layered transmitting/receiving coil can, of course, also be applied to the production of smart cards and/or module carriers with a single coil layer.
Other features which are considered as characteristic for the invention are set forth in the appended claims.
Although the invention is illustrated and described herein as embodied in a smart card, it is nevertheless not intended to be limited to the details shown, since various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims.
The construction and method of operation of the invention, however, together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.