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1. 发明申请

US20130245824A1 METHOD AND SYSTEM FOR TRAINING A ROBOT USING HUMAN-ASSISTED TASK DEMONSTRATION 有权
标题翻译：使用人为辅助任务演示来训练机器人的方法和系统
公开(公告)号：US20130245824A1
公开(公告)日：2013-09-19
申请号：US13420677
申请日：2012-03-15
申请人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
发明人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
IPC分类号： B25J13/08
CPC分类号： B25J9/1664 , G05B2219/40512
摘要： A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.
摘要翻译：用于训练机器人以在工作环境中执行机器人任务的方法包括：通过所述任务的多个状态和描述机器人行为序列的记录电机模式来移动所述机器人在其配置空间。在移动机器人时记录描述机器人的性能和状态值的感官数据。该方法包括检测位于环境中的对象的感知特征，将虚拟指示标记分配给所检测到的感知特征，以及使用所分配的标记和所记录的运动模式来随后在另一机器人任务的自动执行中控制机器人。标记可以组合以产生广义标记。系统包括机器人，用于检测性能和状态值的传感器阵列，用于在环境中成像对象的感知传感器，以及执行本方法的电子控制单元。

2. 发明授权

US08515579B2 Systems and methods associated with handling an object with a gripper 有权
标题翻译：与夹具处理物体相关联的系统和方法
公开(公告)号：US08515579B2
公开(公告)日：2013-08-20
申请号：US12634313
申请日：2009-12-09
申请人： Javier A Alcazar , Leandro G. Barajas
发明人： Javier A Alcazar , Leandro G. Barajas
IPC分类号： G05B19/00 , G05B15/00
CPC分类号： B25J9/1669 , G05B2219/39107 , G05B2219/39508 , G05B2219/39527
摘要： A system associated with handling an object with a gripper includes a sensor that is configured to measure spatially distributed data that represents the position of the object that is handled by the gripper. The system further includes a computing unit that is configured to determine the behavior of the object.
摘要翻译：与夹持器处理对象相关联的系统包括被配置为测量表示由夹具处理的对象的位置的空间分布的数据的传感器。系统还包括被配置为确定对象的行为的计算单元。

3. 发明授权

US07771089B2 High intensity and low power signaling device with heat dissipation system 有权
标题翻译：具有散热系统的高强度低功率信号装置
公开(公告)号：US07771089B2
公开(公告)日：2010-08-10
申请号：US12030984
申请日：2008-02-14
申请人： Rodney Schultz , Leandro G. Barajas
发明人： Rodney Schultz , Leandro G. Barajas
IPC分类号： F21V29/00
CPC分类号： F21V29/70 , F21K9/00 , F21V29/004 , F21W2111/00 , F21Y2115/10 , H05B33/0803
摘要： A luminous signaling device with a heat dissipation system is provided. The heat dissipation system is configured to set up a natural convection current flow to remove air heated by the LED emitter and enable cooler ambient air to flow towards the LED emitter. The signaling device includes a generally tubular element having a hollow inner cavity and a first slot through the tubular element. An LED emitter is operatively connected to the tubular element, with the LED emitter being operable to emit light in response to power. The signaling device includes an electronic driver circuit configured to provide an adjustable current to the LED emitter. Wires connecting the circuit and the LED emitter run through the first slot and the inner cavity of the tubular element.
摘要翻译：提供具有散热系统的发光信号装置。散热系统被配置成建立自然对流电流以去除由LED发射器加热的空气，并使得较冷的环境空气朝向LED发射器流动。信号装置包括具有中空内腔和通过管状元件的第一槽的大体管状元件。 LED发射器可操作地连接到管状元件，LED发射器可操作以响应于功率而发光。信号装置包括被配置为向LED发射器提供可调电流的电子驱动器电路。连接电路和LED发射器的电线穿过管状元件的第一槽和内腔。

4. 发明申请

US20090089700A1 METHODS OF INTEGRATING REAL AND VIRTUAL WORLD USING PHYSICAL SENSOR/ACTUATOR 审中-公开
标题翻译：使用物理传感器/执行器集成真实世界和虚拟世界的方法
公开(公告)号：US20090089700A1
公开(公告)日：2009-04-02
申请号：US12237923
申请日：2008-09-25
申请人： Fangming Gu , Chengyin Yuan , Stephan R. Biller , Leandro G. Barajas
发明人： Fangming Gu , Chengyin Yuan , Stephan R. Biller , Leandro G. Barajas
IPC分类号： G06F3/048 , G05B15/00
CPC分类号： G05B19/41885 , G05B2219/31078 , G05B2219/39014 , G05B2219/40288 , Y02P90/083 , Y02P90/26
摘要： A system and method for integrating a real and virtual manufacturing automation system that provides a part flow between a virtual world part of the system including virtual world components and a real world part of the system including real world components. The system includes an interface device for transferring signals between the virtual world part of the system and the real world part of the system, a programmable logic controller for controlling the operation of the system and an input/output device that processes signals sent to the programmable logic controller and signals sent from the programmable logic controller. The programmable logic controller controls the operation of the system where sensors and actuators coupled between the virtual world part of the system and the real world part of the system are physically coupled.
摘要翻译：一种用于集成真实和虚拟制造自动化系统的系统和方法，该系统和虚拟制造自动化系统在系统的虚拟世界部分之间提供部分流程，包括虚拟世界组件和包括真实世界组件的系统的真实世界部分。该系统包括用于在系统的虚拟世界部分和系统的真实世界部分之间传送信号的接口设备，用于控制系统的操作的可编程逻辑控制器和处理发送到可编程的信号的输入/输出设备逻辑控制器和从可编程逻辑控制器发送的信号。可编程逻辑控制器控制系统的操作，其中耦合在系统的虚拟世界部分和系统的真实世界部分之间的传感器和致动器物理耦合。

5. 发明申请

US20090088885A1 METHODS OF INTEGRATING REAL AND VIRTUAL WORLD USING VIRTUAL SENSOR/ACTUATOR 有权
标题翻译：使用虚拟传感器/执行器集成真实和虚拟世界的方法
公开(公告)号：US20090088885A1
公开(公告)日：2009-04-02
申请号：US12237944
申请日：2008-09-25
申请人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
发明人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
IPC分类号： G06F17/00
CPC分类号： G05B19/41885 , G05B2219/31078 , G05B2219/39014 , G05B2219/40288 , Y02P90/083 , Y02P90/26
摘要： An integrated real and virtual manufacturing automation system that employs a programmable logic controller that controls part flow between a real machine in the real world part of the system and a virtual machine in the virtual world part of the system using virtually coupled sensors and actuators. A real world sensor senses the position of the real world machine and a real world actuator actuates the real world machine. Likewise, a virtual world sensor senses the position of the virtual world machine and a virtual world actuator actuates the virtual world machine. An interface device transfers signals between the virtual world part of the system and the real world part of the system, and an input/output device processes signals sent to the programmable logic controller and signals sent from the programmable logic controller.
摘要翻译：一个集成的真实和虚拟制造自动化系统，其使用可编程逻辑控制器来控制系统的真实世界中的真实机器之间的部分流程，以及使用虚拟耦合的传感器和执行器的虚拟世界中的虚拟机部分。一个现实世界的传感器感知现实世界的机器的位置，一个现实的执行器致动现实世界的机器。同样，虚拟世界传感器感测虚拟世界机器的位置，虚拟世界执行器致动虚拟世界机器。接口设备在系统的虚拟世界部分和系统的真实世界部分之间传送信号，并且输入/输出设备处理发送到可编程逻辑控制器的信号和从可编程逻辑控制器发送的信号。

6. 发明申请

US20090015997A1 Modular and Configurable Display Device 审中-公开
标题翻译：模块化和可配置的显示设备
公开(公告)号：US20090015997A1
公开(公告)日：2009-01-15
申请号：US11776700
申请日：2007-07-12
申请人： Leandro G. Barajas , Christopher M. Santella , Rodney Schultz
发明人： Leandro G. Barajas , Christopher M. Santella , Rodney Schultz
IPC分类号： H05K5/02
CPC分类号： G09F9/33 , G09F13/22
摘要： A modular display device includes a housing module having a plurality of open face compartments and a back wall having access openings therein registering with each of the open face compartments. A circuit board is mounted on the back wall of the housing module and carries a plurality of light-emitting diodes mounted thereon and being energizable by the circuit board to shine through the access openings and light up the compartment. A lens is provided for each of the compartments and attached to the housing module to close the open face compartment. Each lens has an alphanumeric or other message thereon which will be backlit by the light-emitting diodes so that information is displayed. A plurality of these housing modules are mounted together side by side in order to form a display board of scalable and customizable size depending upon the number of information messages to be displayed and signaled.
摘要翻译：模块化显示装置包括具有多个敞开面隔室的壳体模块和具有入口开口的后壁，其中每个敞开的面部隔室配合。电路板安装在壳体模块的后壁上并且承载安装在其上的多个发光二极管并且可被电路板激励以照射通过入口并照亮隔间。为每个隔室提供透镜并且附接到壳体模块以封闭敞开的面室。每个透镜在其上具有字母数字或其他信息，其将被发光二极管背光，从而显示信息。多个这些外壳模块并排安装在一起，以形成可展示和可定制尺寸的显示板，这取决于要显示和发出信号的信息信息的数量。

7. 发明授权

US08843236B2 Method and system for training a robot using human-assisted task demonstration 有权
标题翻译：使用人为辅助任务演示训练机器人的方法和系统
公开(公告)号：US08843236B2
公开(公告)日：2014-09-23
申请号：US13420677
申请日：2012-03-15
申请人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
发明人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
IPC分类号： B25J13/08
CPC分类号： B25J9/1664 , G05B2219/40512
摘要： A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.
摘要翻译：用于训练机器人以在工作环境中执行机器人任务的方法包括：通过所述任务的多个状态和描述机器人行为序列的记录电机模式来移动所述机器人在其配置空间。在移动机器人时记录描述机器人的性能和状态值的感官数据。该方法包括检测位于环境中的对象的感知特征，将虚拟指示标记分配给所检测到的感知特征，以及使用所分配的标记和所记录的运动模式来随后在另一机器人任务的自动执行中控制机器人。标记可以组合以产生广义标记。系统包括机器人，用于检测性能和状态值的传感器阵列，用于在环境中成像对象的感知传感器，以及执行本方法的电子控制单元。

8. 发明授权

US08577815B2 Method and system for concurrent event forecasting 有权
标题翻译：并发事件预测方法与系统
公开(公告)号：US08577815B2
公开(公告)日：2013-11-05
申请号：US12604606
申请日：2009-10-23
申请人： Leandro G. Barajas , Youngkwan Cho , Narayan Srinivasa
发明人： Leandro G. Barajas , Youngkwan Cho , Narayan Srinivasa
IPC分类号： G06F15/18 , G06N3/00 , G06N3/12
CPC分类号： G06N3/02 , G06F17/18 , G06K9/00496 , G06K9/6251
摘要： A method and system for characterizing, detecting, and predicting or forecasting multiple target events from a past history of these events includes compressing temporal data streams into self-organizing map (SOM) clusters, and determining trajectories of the temporal streams via the clusters to predict the multiple target events. The system includes an evolutionary multi-objective optimization (EMO) module for processing the temporal data streams, which are obtained from a plurality of heterogeneous domains; a SOM module for characterizing the temporal data streams into self-organizing map clusters; and a target event prediction (TEP) module for generating prediction models of the map clusters. The SOM module employs a vector quantization method that places a set of vectors on a low-dimensional grid in an ordered fashion. The prediction models each include trajectories of the temporal data streams, and the system predicts the multiple target events using the trajectories.
摘要翻译：用于从这些事件的过去历史表征，检测和预测或预测多个目标事件的方法和系统包括将时间数据流压缩为自组织映射（SOM）集群，以及通过集群确定时间流的轨迹以预测多个目标事件。该系统包括用于处理从多个异构域获得的时间数据流的进化多目标优化（EMO）模块; 用于将时间数据流表征为自组织映射簇的SOM模块; 以及用于生成地图簇的预测模型的目标事件预测（TEP）模块。 SOM模块采用矢量量化方法，其以有序的方式将一组向量放置在低维度网格上。预测模型各自包括时间数据流的轨迹，并且系统使用轨迹来预测多个目标事件。

9. 发明申请

US20130218335A1 PROCEDURAL MEMORY LEARNING AND ROBOT CONTROL 有权
标题翻译：程序记忆学习和机器人控制
公开(公告)号：US20130218335A1
公开(公告)日：2013-08-22
申请号：US13400969
申请日：2012-02-21
申请人： Leandro G. BARAJAS , Adam M. SANDERS
发明人： Leandro G. BARAJAS , Adam M. SANDERS
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , G05B2219/36422 , G05B2219/39296 , G05B2219/39298
摘要： Methods and apparatus for procedural memory learning to control a robot by demonstrating a task action to the robot and having the robot learn the action according to a similarity matrix of correlated values, attributes, and parameters obtained from the robot as the robot performs the demonstrated action. Learning is done by an artificial neural network associated with the robot controller, so that the robot learns to perform the task associated with the similarity matrix. Extended similarity matrices can contain integrated and differentiated values of variables. Procedural memory learning reduces overhead in instructing robots to perform tasks. Continued learning improves performance and provides automatic compensation for changes in robot condition and environmental factors.
摘要翻译：程序记忆学习的方法和装置，通过向机器人展示任务动作并使机器人根据机器人执行所示动作的相关值，属性和参数获得的相似性矩阵来学习动作来控制机器人。学习通过与机器人控制器相关联的人造神经网络完成，使得机器人学习执行与相似性矩阵相关联的任务。扩展相似矩阵可以包含变量的积分和差分值。程序记忆学习减少了指导机器人执行任务的开销。持续学习提高性能，并为机器人状况和环境因素的变化提供自动补偿。

10. 发明授权

US07999664B2 Behavior-based low fuel warning system 有权
标题翻译：基于行为的低燃油预警系统
公开(公告)号：US07999664B2
公开(公告)日：2011-08-16
申请号：US12333422
申请日：2008-12-12
申请人： Leandro G. Barajas
发明人： Leandro G. Barajas
IPC分类号： B60Q1/00
CPC分类号： B60R25/00
摘要： A method is provided for determining when to provide a refueling notification to a driver of a vehicle. A refueling behavior is determined for refueling the vehicle. The refueling behavior is associated at least in part to an amount of fuel customarily remaining in the vehicle when the vehicle is customarily refueled. A remaining amount of fuel in the vehicle and a fuel economy of the vehicle are determined. A distance the vehicle will travel to a next driving destination is estimated. An amount of fuel that will be used to travel to the next driving destination is estimated based on the estimated distance the vehicle will travel to the next driving destination and the fuel economy. A determination is made whether the amount of fuel that will be remaining in the vehicle after the vehicle travels to the next driving destination is less than the amount of a fuel customarily remaining in the vehicle when the vehicle is refueled. A refueling notification is actuated to a driver of a vehicle in response to the determination that the amount of fuel that will be remaining in the vehicle after the vehicle travels to the next driving destination will be less than the amount of fuel customarily remaining in the vehicle when the vehicle is refueled.
摘要翻译：提供了一种用于确定何时向车辆的驾驶员提供加油通知的方法。确定加油车辆的加油行为。加油行为至少部分地与当车辆通常加油时通常保留在车辆中的燃料量相关联。确定车辆中的剩余燃料量和车辆的燃料经济性。估计车辆行驶到下一个行驶目的地的距离。基于车辆将行驶到下一个驾驶目的地的估计距离和燃料经济性来估计用于行驶到下一个驾驶目的地的燃料量。确定在车辆行驶到下一个驾驶目的地之后车辆中剩余的燃料量是否小于当车辆加油时通常保留在车辆中的燃料的量。响应于车辆行驶到下一个驾驶目的地后剩余在车辆中的燃料量将小于车辆中常用的燃料量，确定车辆驾驶员的加油通知将被启动当车辆加油时。

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