Brian J Maclean

US Patent:

8002365, Aug 23, 2011

Filed:

Nov 13, 2007

Appl. No.:

11/985324

Inventors:

Stephen C. Jacobsen - Salt Lake City UT, US
Brian J. Maclean - Salt Lake City UT, US
Ralph W. Pensel - Sandy UT, US
Christopher R. Hirschi - Salt Lake City UT, US

Assignee:

Raytheon Company - Waltham MA

International Classification:

B62D 55/14
B62D 55/065

US Classification:

305129, 305124, 305132, 305141, 180 944

Abstract:

A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.

US Patent:

8516918, Aug 27, 2013

Filed:

Aug 28, 2009

Appl. No.:

13/061482

Inventors:

Stephen C. Jacobsen - Salt Lake City UT, US
Marc X. Olivier - Sandy UT, US
Brian J. Maclean - Salt Lake City UT, US

Assignee:

Raytheon Company - Waltham MA

International Classification:

B25J 17/00

US Classification:

7449001, 7449005, 901 14, 901 21, 901 28, 901 1

Abstract:

A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.

US Patent:

8205695, Jun 26, 2012

Filed:

Apr 22, 2010

Appl. No.:

12/765618

Inventors:

Stephen C. Jacobsen - Salt Lake City UT, US
Brian J. Maclean - Salt Lake City UT, US
Ralph W. Pensel - Sandy UT, US
Christopher R. Hirschi - Salt Lake City UT, US

Assignee:

Raytheon Company - Waltham MA

International Classification:

B62D 55/14
B62D 55/065

US Classification:

180 91, 180 944, 305124, 305132, 305141

Abstract:

A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.

US Patent:

20110213599, Sep 1, 2011

Filed:

Aug 28, 2009

Appl. No.:

13/061472

Inventors:

Stephen C. Jacobsen - Salt Lake City UT, US
Marc X. Olivier - Sandy UT, US
Brian J. Maclean - Salt Lake City UT, US

Assignee:

Raytheon Company - Waltham MA

International Classification:

G06F 17/50

US Classification:

703 7, 901 22, 901 15, 901 28

Abstract:

A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.

US Patent:

20110295164, Dec 1, 2011

Filed:

Aug 28, 2009

Appl. No.:

13/061488

Inventors:

Stephen C. Jacobsen - Salt Lake City UT, US
Marc X. Olivier - Sandy UT, US
Brian J. Maclean - Salt Lake City UT, US

Assignee:

RAYTHEON COMPANY - WALTHAM MA

International Classification:

A61H 1/02

US Classification:

601 23

Abstract:

A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.

US Patent:

20140076225, Mar 20, 2014

Filed:

Feb 17, 2013

Appl. No.:

13/769339

Inventors:

Brian MaClean - Salt Lake City UT, US
Glenn Colvin - Park City UT, US

Assignee:

Raytheon Company - Waltham MA

International Classification:

B63B 59/06
B63B 9/00

US Classification:

114222, 114221 R, 901 44

Abstract:

A hull inspection robot for autonomously inspecting a hull includes a robot body and a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. An autonomous inspection system non-destructively inspects the hull by detecting a state of or near a portion of the hull and comparing the detected state with a stored state of the portion of the hull.

US Patent:

56622945, Sep 2, 1997

Filed:

Nov 20, 1995

Appl. No.:

8/559860

Inventors:

Brian J. Maclean - Daniel WY
Bernard F. Carpenter - Littleton CO
Mohan S. Misra - Golden CO

Assignee:

Lockheed Martin Corporation - Bethesda MD

International Classification:

B64C 318
B64C 344
B64C 904
B63B 338

US Classification:

244219

Abstract:

A pliant, controllable contour control surface comprising a first flexible facesheet formed to a first initial contour of the control surface, and a second flexible facesheet formed to a second initial contour of the control surface. The first and second facesheets each have a set of prestrained shape memory alloy tendons embedded therein, extending from a leading edge to a trailing edge of the control surface. Each set of the shape memory alloy tendons is separately connected to a controlled source of electrical current such that tendons of the first and second flexible facesheets can be selectively heated in an antagonistic, slack-free relationship, to bring about a desired modification of the configuration of the control surface. A computer based control system is utilized for maintaining a constant temperature of the antagonists to establish conditions conducive to the stress induced transformation from austenite to martensite, accomplished by causing constant current to flow through the antagonists. Proportional/integral (PI) control is utilized in connection with the opposing shape memory tendons.

US Patent:

59364114, Aug 10, 1999

Filed:

Nov 28, 1997

Appl. No.:

8/980325

Inventors:

Stephen C. Jacobsen - Salt Lake City UT
Michael G. Mladejovsky - Salt Lake City UT
Mark R. Whitaker - Salt Lake City UT
Brian J. Maclean - Salt Lake City UT

Assignee:

Sarcos L.C. - Salt Lake City UT

International Classification:

G01R 2726

US Classification:

324662

Abstract:

A method and apparatus for measuring displacement of one location of a structure, relative to another, spaced apart location. The apparatus includes a first array of conductive elements disposed on the structure and attached at said one location; a second array of conductive elements disposed on the structure adjacent the first array and attached at said other, spaced-apart location such that displacement of said one location with respect to said other, spaced-apart location can be measured by measuring the first array position with respect to the second array position; a source for supplying an electric current to the first and the second array of conductive elements to develop a unique charge between each conductive element of the first array and each respective conductive element of the second array, wherein the unique charge that is stored between each pair of conductive elements changes when the relative position of the first array changes with respect to the second array and the change in charges corresponds to the displacement of the one location with respect to the other, spaced apart location.