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    • 8. 发明申请
    • Hardware abstraction layer (HAL) for a robot
    • 机器人的硬件抽象层(HAL)
    • US20070050088A1
    • 2007-03-01
    • US11485637
    • 2006-07-11
    • Thomas MurrayBaoquoc PhamPaolo Pirjanian
    • Thomas MurrayBaoquoc PhamPaolo Pirjanian
    • G06F19/00
    • G06N3/008B25J9/161B25J9/1661B25J9/1666G05B2219/40389G05B2219/40397G05D1/0088G05D2201/02G06F9/455Y10T436/11
    • Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.
    • 公开了一种为机器人提供硬件抽象层(HAL)的方法和装置。 HAL可以作为软件层或驻留在机器人控制软件和底层机器人硬件和/或硬件的操作系统之间的固件层存在。 HAL为底层硬件的聚合提供了相对均匀的抽象,使得潜在的机器人硬件对感知和控制软件即机器人控制软件是透明的。 这有利地允许以机器人独立的方式写入机器人控制软件。 机器人控制软件的开发者然后摆脱繁琐的低级任务。 便携性是另一个优点。 例如,HAL有效地允许为一个机器人开发的机器人控制软件移植到另一个机器人。 在一个示例中,HAL允许从轮式机器人移植相同的导航算法,并在人形腿式机器人上使用。
    • 10. 发明授权
    • Envelope
    • 信封
    • US5823423A
    • 1998-10-20
    • US827779
    • 1997-04-11
    • Thomas Murray
    • Thomas Murray
    • B65D27/06B65D27/34B65D27/04
    • B65D27/06B65D27/34
    • A blank for use in making an envelope has areas 6, 7 and 8 for forming a front panel, a rear panel and an intermediate panel of the envelope. The area 6 is formed with a window 20 through which an address, on the area 8, for a second use of the envelope can be seen. In a first use of the envelope, a piece of paper bearing an address for the first mailing is interposed between the window and the area 8, whereby the address thereon is obscured and the address on the piece of paper can be seen through the window 20. At one end of one of the areas 6 and 7, there is joined to that area, along a line of weakness 21, a tear-off strip 11 and at the corresponding end of the other of the areas 6 and 7 there is joined to that area, but not along a line of substantial weakness, a fold-over area 10 which can be used to seal the envelope, for its second use, after the tear-off strip 11 has been removed. In some examples a sheet of transparent material is stuck by adhesive 14 to the area 7, covering the window, the sheet having a second line of weakness which lies along the first line of weakness 21. The sheet has a major portion joined along the second line of weakness to a minor portion which is stuck by adhesive to the tear-off strip 11 so that it comes off the envelope therewith.
    • 用于制作信封的坯件具有用于形成信封的前面板,后面板和中间面板的区域6,7和8。 区域6形成有窗口20,通过该窗口可以看到在区域8上用于第二次使用信封的地址。 在信封的第一次使用中,在窗口和区域8之间插入一张承载第一邮寄地址的纸,从而使其上的地址变得模糊,并且可以通过窗口20看到一张纸上的地址 在区域6和7中的一个区域的一端,沿着弱线21连接到该区域,撕开带11并且在区域6和7中的另一个的相应端部处被连接 但不是沿着一条实质性的弱点,折叠区域10可以用于在剥离带11被去除之后用于密封该封套以进行第二次使用。 在一些示例中,一片透明材料被粘合剂14粘附到覆盖窗口的区域7上,该片具有位于第一弱线21处的第二弱线线。该片具有沿第二线连接的主要部分 弱线到被粘合剂粘附到撕开带11的小部分,使得其与外壳脱离。