1. A symmetric differential inductor structure disposed on a substrate, wherein the substrate is divided into a first quadrant, a second quadrant, a third quadrant and a fourth quadrant; a first input port is disposed in the second quadrant; a second input port is disposed in the first quadrant; and a third input port is disposed outside the first and second quadrants, the symmetric differential inductor structure comprising:
a first spiral conductive wiring disposed in the second quadrant and having a first contact connected to the first input port and a first end disposed in the first spiral conductive wiring;
a second spiral conductive wiring disposed in the first quadrant and having a second contact connected to the second input port and a second end disposed in the second spiral conductive wiring;
a third spiral conductive wiring disposed in the fourth quadrant and having a third contact connected to the third input port and a third end disposed in the third spiral conductive wiring;
a fourth spiral conductive wiring disposed in the third quadrant and having a fourth contact connected to the third input port and a fourth end disposed in the fourth spiral conductive wiring;
a fifth conductive wiring disposed over the first and fourth spiral conductive wirings for connecting the first and fourth ends; and
a sixth conductive wiring disposed over the second and third spiral conductive wirings for connecting the second and third ends.
2. The structure of claim 1, wherein the first spiral conductive wiring extends from the first input port to the first end in a clockwise spiral.
3. The structure of claim 1, wherein the second spiral conductive wiring extends from the second input port to the second end in a counterclockwise spiral.
4. The structure of claim 1, wherein the third spiral conductive wiring extends from the third input port to the third end in a counterclockwise spiral.
5. The structure of claim 1, wherein the fourth spiral conductive wiring extends from the third input port to the fourth end in a clockwise spiral.
6. The structure of claim 1, wherein the third input port is located between the third quadrant and the fourth quadrant.
7. The structure of claim 1, wherein the third contact of the third spiral conductive wiring connects with the fourth contact of the fourth spiral conductive wiring.
8. The structure of claim 1, wherein the first, second, third and fourth spiral conductive wirings and the fifth and sixth conductive wirings are made of metal.
9. The structure of claim 1, wherein the first, second, third and fourth spiral conductive wirings have rounded corners.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method comprising:
directing at least one laser beam pulse from a laser that is mounted on a moving underwater vehicle toward an underwater structure while the vehicle is at a first location relative to the underwater structure;
detecting light that is reflected from the underwater structure using a light detector mounted on the underwater vehicle;
generating at least one data point cloud from the detected light autonomously in real time, each data point cloud being suitable for generating a scanned three-dimensional virtual model of the underwater structure;
aligning data points in at least one of the data point clouds to a pre-existing three dimensional virtual model of the underwater structure autonomously in real time; and
while aligning the data points in at least one of the data point clouds to a pre-existing three dimensional virtual model of the underwater structure autonomously in real time, moving the underwater vehicle from the first location to a second location relative to the underwater structure.
2. The method of claim 1, based on the alignment, estimating a position and orientation of the underwater vehicle relative to the underwater structure autonomously in real time.
3. The method of claim 1, further comprising creating a scanned three-dimensional virtual model from at least one of the data point clouds autonomously in real time, comparing the scanned three-dimensional virtual model to the pre-existing three dimensional virtual model autonomously in real time, and determining whether a structural change in the underwater structure has occurred autonomously in real time.
4. The method of claim 1, further comprising directing a plurality of laser beam pulses from the laser toward the underwater structure autonomously in real time, and for each laser beam pulse detecting light that is reflected from the underwater structure using the detector mounted on the underwater platform autonomously in real time.
5. The method of claim 1, wherein the moving underwater vehicle is one of an autonomous underwater vehicle, or a remotely operated underwater vehicle.
6. The method of claim 1, further comprising filtering the data point cloud autonomously in real time.
7. The method of claim 1, wherein aligning the data points comprises performing autonomously in real time an iterative fit process using data points from a plurality of the laser beam pulses, the iterative fit process comprises autonomously in real time adjusting the data points that align with the pre-existing three dimensional virtual model of the underwater structure.
8. The method of claim 1, comprising autonomously in real time updating the pre-existing three dimensional virtual model after aligning the data points.
9. The method of claim 3, wherein creating the scanned three-dimensional virtual model includes autonomously in real time: collecting information about occupied space where structure is present, collecting information about unoccupied space where structure is not present, and identifying unknown space where information has not been collected.
10. The method of claim 9, wherein creating the scanned three-dimensional virtual model comprises autonomously in real time inputting multiple aligned data samples, each aligned data sample represents data collected from a different viewpoint of an area of the underwater structure.
11. A system, comprising:
a moving underwater vehicle and a three-dimensional laser system mounted on the moving underwater vehicle, the laser system including a steerable laser for projecting a plurality of laser beam pulses toward an underwater structure and a light detector that detects light that is reflected from the underwater structure;
a point cloud data storage that is in communication with the laser system for storing point cloud data that is autonomously generated in real time by the laser system; and
a data processor in communication with the point cloud data storage that processes first point cloud data from the data storage autonomously in real time, the data processor is configured to autonomously in real time to align data points in the first point cloud data to a pre-existing three dimensional virtual model of the underwater structure to estimate a position and orientation of the underwater vehicle relative to the underwater structure while navigating the moving underwater vehicle near the underwater structure andor determine whether a structural change in the underwater structure has occurred.
12. The system of claim 11, wherein the moving underwater vehicle is one of an autonomous underwater vehicle, or a remotely operated underwater vehicle.
13. The system of claim 11, wherein the moving underwater vehicle comprises an autonomous underwater vehicle or a remotely operated underwater vehicle, the point cloud data storage and the data processor are on the underwater vehicle, and the underwater vehicle further includes a vehicle navigation system in communication with the data processor.
14. The system of claim 11, wherein the data processor andor the point cloud data storage are at one or more locations separate from the underwater vehicle.