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1. 发明申请

US20080125896A1 Closed-Loop Feedback Control Using Motion Capture Systems 有权
标题翻译：使用运动捕捉系统的闭环反馈控制
公开(公告)号：US20080125896A1
公开(公告)日：2008-05-29
申请号：US11459631
申请日：2006-07-24
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G06F19/00
CPC分类号： G05D1/0234 , G05D1/0033
摘要： Systems and methods for closed-loop feedback control of controllable devices using motion capture systems are disclosed. In one embodiment, a system includes a motion capture system configured to measure one or more motion characteristics of one or more controllable devices as the one or more controllable devices are operating within a control volume. A processor receives the measured motion characteristics from the motion capture system and determines a control signal based on the measured motion characteristics. A position control system receives the control signal and continuously adjusts at least one motion characteristic of the one or more controllable devices in order to maintain or achieve a desired motion state. The controllable device may be equipped with passive retro-reflective markers. The motion capture system, the processor, and the position control system comprise a complete closed-loop feedback control system.
摘要翻译：公开了使用运动捕捉系统的可控制装置的闭环反馈控制的系统和方法。在一个实施例中，系统包括运动捕捉系统，其配置成当一个或多个可控设备在控制体积内操作时测量一个或多个可控设备的一个或多个运动特性。处理器从运动捕捉系统接收测量的运动特性，并且基于所测量的运动特性来确定控制信号。位置控制系统接收控制信号并连续地调整一个或多个可控设备的至少一个运动特性，以维持或达到期望的运动状态。可控设备可以配备无源回射标记。运动捕捉系统，处理器和位置控制系统包括完整的闭环反馈控制系统。

2. 发明授权

US08510039B1 Methods and apparatus for three-dimensional localization and mapping 有权
标题翻译：三维定位和绘图的方法和装置
公开(公告)号：US08510039B1
公开(公告)日：2013-08-13
申请号：US12898412
申请日：2010-10-05
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G01S1/24
CPC分类号： G05D1/027 , G01C21/165 , G05D1/0251 , G05D1/0274
摘要： A system configured to enable three-dimensional localization and mapping is provided. The system includes a mobile device and a computing device. The mobile device includes an inertial measurement unit and a three-dimensional image capture device. The computing device includes a processor programmed to receive a first set of inertial measurement information from the inertial measurement unit, determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information, receive three-dimensional image data of the environment from the three-dimensional image capture device, determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device, and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.
摘要翻译：提供了一种配置成实现三维定位和映射的系统。该系统包括移动设备和计算设备。移动设备包括惯性测量单元和三维图像捕获设备。计算设备包括被编程为从惯性测量单元接收第一组惯性测量信息的处理器，基于移动设备的定义的位置和取向以及第一组惯性来确定移动设备的第一当前位置和取向测量信息，从三维图像捕获装置接收环境的三维图像数据，基于接收到的三维图像数据和第一当前位置和取向来确定移动装置的第二当前位置和取向移动设备，并且相对于移动设备的第二当前位置和取向生成环境的三维表示。

3. 发明授权

US07813888B2 Autonomous vehicle rapid development testbed systems and methods 有权
标题翻译：自主车辆快速开发测试系统和方法
公开(公告)号：US07813888B2
公开(公告)日：2010-10-12
申请号：US11459617
申请日：2006-07-24
申请人： John L. Vian , Ronald C. Provine , Stefan R. Bieniawski , Emad W. Saad , Paul E. R. Pigg , Gregory J. Clark , Ali R. Mansouri , Khaled Abdel-Motagaly , Charles A. Erignac , James J. Troy , Paul Murray , Jonathan P. How , Mario J. Valenti , Brett M. Bethke
发明人： John L. Vian , Ronald C. Provine , Stefan R. Bieniawski , Emad W. Saad , Paul E. R. Pigg , Gregory J. Clark , Ali R. Mansouri , Khaled Abdel-Motagaly , Charles A. Erignac , James J. Troy , Paul Murray , Jonathan P. How , Mario J. Valenti , Brett M. Bethke
IPC分类号： G06F19/00 , G06F17/40 , G05D1/00
CPC分类号： F41G7/303 , G05D1/0027 , G05D1/0033
摘要： Systems and methods for development testing of vehicles and components are disclosed. In one embodiment, a system includes a position reference system and a command and control architecture. The position reference system is configured to repetitively measure one or more position and motion characteristics of one or more vehicles operating within a control volume. The command and control architecture is configured to receive the repetitively measured characteristics from the position reference system, and to determine corresponding control signals based thereon. The control signals are then transmitted to the one or more vehicles to control at least one of position, movement, and stabilization of the one or more vehicles in a closed-loop feedback manner. The system may further include a health monitoring component configured to monitor health conditions of the one or more vehicles, the control signals being determined at least in part on the health conditions.
摘要翻译：公开了用于车辆和部件的开发测试的系统和方法。在一个实施例中，系统包括位置参考系统和命令和控制架构。位置参考系统被配置为重复地测量在控制体积内操作的一个或多个车辆的一个或多个位置和运动特性。命令和控制架构被配置为从位置参考系统接收重复测量的特性，并且基于此来确定相应的控制信号。然后，控制信号被传送到一个或多个车辆，以闭环反馈方式控制一个或多个车辆的位置，移动和稳定中的至少一个。该系统可以进一步包括健康监测组件，其被配置为监测一个或多个车辆的健康状况，所述控制信号至少部分地基于健康状况来确定。

4. 发明授权

US08214098B2 System and method for controlling swarm of remote unmanned vehicles through human gestures 有权
标题翻译：通过人工手势控制远程无人驾驶车辆的系统和方法
公开(公告)号：US08214098B2
公开(公告)日：2012-07-03
申请号：US12395019
申请日：2009-02-27
申请人： Paul Murray , James J. Troy , Charles A. Erignac , Richard H. Wojcik , David J. Finton , Dragos D. Margineantu
发明人： Paul Murray , James J. Troy , Charles A. Erignac , Richard H. Wojcik , David J. Finton , Dragos D. Margineantu
IPC分类号： G06F19/00
CPC分类号： B64C39/024 , A63H30/04 , B64C2201/146 , G05D1/0016 , G05D1/0027 , G05D1/0033 , G06F3/012 , G06F3/017
摘要： A method is disclosed for controlling at least one remotely operated unmanned object. The method may involve defining a plurality of body movements of an operator that correspond to a plurality of operating commands for the unmanned object. Body movements of the operator may be sensed to generate the operating commands. Wireless signals may be transmitted to the unmanned object that correspond to the operating commands that control operation of the unmanned object.
摘要翻译：公开了一种用于控制至少一个远程操作的无人物体的方法。该方法可以包括定义与用于无人物体的多个操作命令相对应的操作者的多个身体运动。可以感测到操作者的身体动作以产生操作命令。无线信号可以被发送到与控制无人物体的操作的操作命令对应的无人物体。

5. 发明授权

US07643893B2 Closed-loop feedback control using motion capture systems 有权
标题翻译：使用运动捕捉系统的闭环反馈控制
公开(公告)号：US07643893B2
公开(公告)日：2010-01-05
申请号：US11459631
申请日：2006-07-24
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G06F19/00
CPC分类号： G05D1/0234 , G05D1/0033
摘要： Systems and methods for closed-loop feedback control of controllable devices using motion capture systems are disclosed. In one embodiment, a system includes a motion capture system configured to measure one or more motion characteristics of one or more controllable devices as the one or more controllable devices are operating within a control volume. A processor receives the measured motion characteristics from the motion capture system and determines a control signal based on the measured motion characteristics. A position control system receives the control signal and continuously adjusts at least one motion characteristic of the one or more controllable devices in order to maintain or achieve a desired motion state. The controllable device may be equipped with passive retro-reflective markers. The motion capture system, the processor, and the position control system comprise a complete closed-loop feedback control system.
摘要翻译：公开了使用运动捕捉系统的可控制装置的闭环反馈控制的系统和方法。在一个实施例中，系统包括运动捕捉系统，其配置成当一个或多个可控设备在控制体积内操作时测量一个或多个可控设备的一个或多个运动特性。处理器从运动捕捉系统接收测量的运动特性，并且基于所测量的运动特性来确定控制信号。位置控制系统接收控制信号并连续地调整一个或多个可控设备的至少一个运动特性，以维持或达到期望的运动状态。可控设备可以配备无源回射标记。运动捕捉系统，处理器和位置控制系统包括完整的闭环反馈控制系统。

6. 发明申请

US20090222149A1 SYSTEM AND METHOD FOR CONTROLLING SWARM OF REMOTE UNMANNED VEHICLES THROUGH HUMAN GESTURES 有权
标题翻译：远程无人驾驶的车辆通过人类手腕控制的系统和方法
公开(公告)号：US20090222149A1
公开(公告)日：2009-09-03
申请号：US12395019
申请日：2009-02-27
申请人： Paul Murray , James J. Troy , Charles A. Erignac , Richard H. Wojcik , David J. Finton , Dragos D. Margineantu
发明人： Paul Murray , James J. Troy , Charles A. Erignac , Richard H. Wojcik , David J. Finton , Dragos D. Margineantu
IPC分类号： G06F19/00
CPC分类号： B64C39/024 , A63H30/04 , B64C2201/146 , G05D1/0016 , G05D1/0027 , G05D1/0033 , G06F3/012 , G06F3/017
摘要： A method is disclosed for controlling at least one remotely operated unmanned object. The method may involve defining a plurality of body movements of an operator that correspond to a plurality of operating commands for the unmanned object. Body movements of the operator may be sensed to generate the operating commands. Wireless signals may be transmitted to the unmanned object that correspond to the operating commands that control operation of the unmanned object.
摘要翻译：公开了一种用于控制至少一个远程操作的无人物体的方法。该方法可以包括定义与用于无人物体的多个操作命令相对应的操作者的多个身体运动。可以感测到操作者的身体动作以产生操作命令。无线信号可以被发送到与控制无人物体的操作的操作命令对应的无人物体。

7. 发明申请

US20080103639A1 Systems and Methods for Haptics-Enabled Teleoperation of Vehicles and Other Devices 有权
标题翻译：具有触发能力的车辆和其他设备远程操作的系统和方法
公开(公告)号：US20080103639A1
公开(公告)日：2008-05-01
申请号：US11764119
申请日：2007-06-15
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G05D1/00 , G06F19/00 , G06F3/01
CPC分类号： G05D1/0033 , G05D1/0027 , G05D1/005
摘要： Systems and methods are disclosed for haptics-enabled teleoperation of vehicles and other devices, including remotely-controlled air, water, and land-based vehicles, manufacturing robots, and other suitable teleoperable devices. In one embodiment, a system for teleoperation of a vehicle comprises a control component configured to provide position and orientation control with haptic force feedback of the vehicle based on a position measurement of the vehicle and configured to function in a closed-loop feedback manner. In a particular embodiment, the position measurement may include six degree-of-freedom position data provided by a motion capture system to the control and/or haptic I/O components of the application. The system may also use differences in position and/or velocity between the vehicle and a haptic I/O device for feedback control.
摘要翻译：公开了用于车辆和其他设备（包括远程控制的空气，水和陆基车辆，制造机器人和其他合适的远程操作设备）的触觉的远程操作的系统和方法。在一个实施例中，用于车辆的远程操作的系统包括控制部件，其被配置为基于车辆的位置测量来提供位置和方向控制与车辆的触觉力反馈，并被配置为以闭环反馈方式工作。在特定实施例中，位置测量可以包括由运动捕捉系统提供给应用的控制和/或触觉I / O组件的六自由度位置数据。系统还可以使用车辆和触觉I / O设备之间的位置和/或速度差异来进行反馈控制。

8. 发明申请

US20080033684A1 Autonomous Vehicle Rapid Development Testbed Systems and Methods 有权
标题翻译：自主车辆快速开发试验台系统和方法
公开(公告)号：US20080033684A1
公开(公告)日：2008-02-07
申请号：US11459617
申请日：2006-07-24
申请人： John L. Vian , Ronald C. Provine , Stefan R. Bieniawski , Emad W. Saad , Paul E. R. Pigg , Gregory J. Clark , Ali R. Mansouri , Khaled Abdel-Motagaly , Charles A. Erignac , James J. Troy , Paul Murray , Jonathan P. How , Mario J. Valenti , Brett M. Bethke
发明人： John L. Vian , Ronald C. Provine , Stefan R. Bieniawski , Emad W. Saad , Paul E. R. Pigg , Gregory J. Clark , Ali R. Mansouri , Khaled Abdel-Motagaly , Charles A. Erignac , James J. Troy , Paul Murray , Jonathan P. How , Mario J. Valenti , Brett M. Bethke
IPC分类号： G06F19/00 , G05D1/00 , G06F17/40
CPC分类号： F41G7/303 , G05D1/0027 , G05D1/0033
摘要： Systems and methods for development testing of vehicles and components are disclosed. In one embodiment, a system includes a position reference system and a command and control architecture. The position reference system is configured to repetitively measure one or more position and motion characteristics of one or more vehicles operating within a control volume. The command and control architecture is configured to receive the repetitively measured characteristics from the position reference system, and to determine corresponding control signals based thereon. The control signals are then transmitted to the one or more vehicles to control at least one of position, movement, and stabilization of the one or more vehicles in a closed-loop feedback manner. The system may further include a health monitoring component configured to monitor health conditions of the one or more vehicles, the control signals being determined at least in part on the health conditions.
摘要翻译：公开了用于车辆和部件的开发测试的系统和方法。在一个实施例中，系统包括位置参考系统和命令和控制架构。位置参考系统被配置为重复地测量在控制体积内操作的一个或多个车辆的一个或多个位置和运动特性。命令和控制架构被配置为从位置参考系统接收重复测量的特性，并且基于此来确定相应的控制信号。然后，控制信号被传送到一个或多个车辆，以闭环反馈方式控制一个或多个车辆的位置，移动和稳定中的至少一个。该系统可以进一步包括健康监测组件，其被配置为监测一个或多个车辆的健康状况，所述控制信号至少部分地基于健康状况来确定。

9. 发明授权

US07885732B2 Systems and methods for haptics-enabled teleoperation of vehicles and other devices 有权
标题翻译：支持车辆和其他设备的触觉远程操作的系统和方法
公开(公告)号：US07885732B2
公开(公告)日：2011-02-08
申请号：US11764119
申请日：2007-06-15
申请人： James J. Troy , Charles A. Erignac , Paul Murray
发明人： James J. Troy , Charles A. Erignac , Paul Murray
IPC分类号： G05D1/00
CPC分类号： G05D1/0033 , G05D1/0027 , G05D1/005
摘要： Systems and methods are disclosed for haptics-enabled teleoperation of vehicles and other devices, including remotely-controlled air, water, and land-based vehicles, manufacturing robots, and other suitable teleoperable devices. In one embodiment, a system for teleoperation of a vehicle comprises a control component configured to provide position and orientation control with haptic force feedback of the vehicle based on a position measurement of the vehicle and configured to function in a closed-loop feedback manner. In a particular embodiment, the position measurement may include six degree-of-freedom position data provided by a motion capture system to the control and/or haptic I/O components of the application. The system may also use differences in position and/or velocity between the vehicle and a haptic I/O device for feedback control.
摘要翻译：公开了用于车辆和其他设备（包括远程控制的空气，水和陆基车辆，制造机器人和其他合适的远程操作设备）的触觉的远程操作的系统和方法。在一个实施例中，用于车辆的远程操作的系统包括控制部件，其被配置为基于车辆的位置测量来提供位置和方向控制与车辆的触觉力反馈，并被配置为以闭环反馈方式工作。在特定实施例中，位置测量可以包括由运动捕捉系统提供给应用的控制和/或触觉I / O组件的六自由度位置数据。系统还可以使用车辆和触觉I / O设备之间的位置和/或速度差异来进行反馈控制。

10. 发明授权

US08452052B2 Modeling motion capture volumes with distance fields 有权
标题翻译：用距离场建模运动捕捉量
公开(公告)号：US08452052B2
公开(公告)日：2013-05-28
申请号：US12017111
申请日：2008-01-21
申请人： Charles A. Erignac
发明人： Charles A. Erignac
IPC分类号： G06K9/00
CPC分类号： G06T7/292 , G06T2207/10016
摘要： A k-covered motion capture volume is modeled. The modeling includes representing the k-covered motion capture volume with a distance field.
摘要翻译：对k覆盖的运动捕捉体积进行建模。该建模包括用距离场表示k覆盖的运动捕获体积。

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