MICHAEL BENJAMIN
Engineers in Boston, MA

4734034, Mar 29, 1988

Mar 29, 1985

6/717532

William L. Maness - Boston MA
Robert F. Golden - Boston MA
Michael H. Benjamin - Boston MA
Robert M. Podoloff - Boston MA

Sentek, Incorporated - Cambridge MA

A61C 1904

433 68

A contact sensor for detecting points on a grid where the sensor is being contacted on opposing sides by teeth surfaces or other contacting points. The contact sensor includes two sets of parallel electrodes which are each formed of a thin, flexible supporting sheet. The electrodes are coated with a thin, resistive coating. Two such electrode structures are oriented at approximately right angles to create a grid where the intersecting electrodes cross separated by the resistive coatings. The resistive coatings may be made from conventional resisitive inks and are optionally separated by a separation material, such as talcum or mesh. In the absence of an external force, the material between the electrodes sets provides a high resistance between intersecting electrodes. The novel composition of the intermediate layer results in a structure which provides a "switching" effect such that the resistance between electrodes is very high where there is no external pressure and changes to a comparatively low value at locations where external pressure is applied by two contacting points or surfaces. The sensor output is dynamic in the sense that the resistance will change back and forth between high and low resistance states as external pressure is repeatedly applied and removed.

7613553, Nov 3, 2009

Jul 30, 2004

10/911765

Michael R. Benjamin - Boston MA, US

The United States of America as represented by the Secretary of the Navy - Washington DC

G08G 9/02, G01C 22/00, G05B 19/18

701 26, 701 27, 701301, 700250, 700253

A method for autonomously controlling a vehicle includes establishing decision variables for maneuvering the vehicle. Behavior functions are established for behaviors of the vehicle as a function of at least one of the established decision variables. These behavior function give a score which may be weighted, indicating the desirability of engaging in the associated behavior. A summation of the weighted behavior functions can be solved while the vehicle is operating to determine the values of the decision variables giving the highest summation of scores. In a preferred method, an optimal structure for the behavior functions and summation solution is taught. The method then guides the vehicle in accordance with the determined decision variable values.

7139741, Nov 21, 2006

Jul 31, 2003

10/631527

Michael R. Benjamin - Boston MA, US

The United States of America as represented by the Secretary of the Navy - Washington DC

G06F 17/00, G06N 5/00

706 45, 706 46

A mathematical programming method in which a common decision space is defined by identifying decision variables, and a set of objective functions is developed as piecewise defined functions. Each objective function is dependent on at least one of the decision variables and corresponds to a goal. The objective function has a plurality of pieces, such that the objective function has only one piece for each combination of decision variables. A value function is developed in additive preference form based on weights and the objective functions. The value function is optimized by searching through the decision variable values to find the values of the decision variables that maximize the developed value function. An action dictated by the decision variable values can then be executed.