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1. 发明授权

US11635299B2 Method and system for scene-aware interaction 有权
公开(公告)号：US11635299B2
公开(公告)日：2023-04-25
申请号：US16784103
申请日：2020-02-06
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Chiori Hori , Anoop Cherian , Siheng Chen , Tim Marks , Jonathan Le Roux , Takaaki Hori , Bret Harsham , Anthony Vetro , Alan Sullivan
IPC分类号： G01C21/36 , G01S19/48
摘要： A navigation system for providing driving instructions to a driver of a vehicle traveling on a route is provided. The driving instructions are generated by executing a multimodal fusion method that comprises extracting features from sensor measurements, annotating the features with directions for the vehicle to follow the route with respect to objects sensed by the sensors, and encoding the annotated features with a multimodal attention neural network to produce encodings. The encodings are transformed into a common latent space, and the transformed encodings are fused using an attention mechanism producing an encoded representation of the scene. The method further comprises decoding the encoded representation with a sentence generation neural network to generate a driving instruction and submitting the driving instruction to an output device.

2. 发明申请

US20220309672A1 InSeGAN: A Generative Approach to Instance Segmentation in Depth Images 有权
公开(公告)号：US20220309672A1
公开(公告)日：2022-09-29
申请号：US17212077
申请日：2021-03-25
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Anoop Cherian , Goncalo José Dias Pais , Tim Marks , Alan Sullivan
IPC分类号： G06T7/11 , G06T7/73 , G06T7/50 , G06N3/08 , G06N3/04
摘要： System and method for generating verisimilar images from real depth images. Train a generative adversarial neural network (GAN) by accessing test depth images having identical instances as instances of a real depth image. Input the test depth images in the generator to generate estimated depth images representing an implicit three-dimensional model of the object. Input, each estimated depth image into a discriminator to obtain a loss and into a pose encoder to obtain a matching loss. Iteratively repeat processes until the losses are minimized to a threshold, to end training. Identify the instances in the real image using the trained GAN pose encoder, to produce a pose transformation matrix for each instance in the real image. Identify pixels in the depth images corresponding to the instances of the real image and merge the pixels for the depth images to form an instance segmentation map for the real depth image.

3. 发明申请

US20140355005A1 System and Method for Calibrating Laser Processing Machines 有权
标题翻译：用于校准激光加工机的系统和方法
公开(公告)号：US20140355005A1
公开(公告)日：2014-12-04
申请号：US13908190
申请日：2013-06-03
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Abraham M. Goldsmith , Scott A. Bortoff , Vijay Shilpiekandula , Alan Sullivan , William S. Yerazunis , John C. Barnwell, III
IPC分类号： G01B11/14
CPC分类号： B23K26/00 , B23K26/04 , G01B11/2504 , G01J1/4257 , G03F9/7019 , H01S3/0014
摘要： A method calibrates a laser processing machine by commanding a scan head to direct a laser beam to a desired position, then senses an actual position of the laser beam directly using a position sensitive detector (PSD) after the scan head is positioned. A relative position between the scan head and PSD is altered using one or more linear actuators. A position feedback loop is closed around the linear actuators so that the relative position of the laser beam on the PSD is reduced to zero. The actual position of the laser spot is then measured indirectly by encoders attached to linear axes of the laser processing machine. The actual position is stored in a memory. An error is determined as a difference between the desired position and the actual position. Compensation coefficients are determined from the error and stored for later use during operation of the laser processing machine.
摘要翻译：一种方法是通过命令扫描头将激光束引导到期望的位置来校准激光加工机，然后在扫描头定位之后使用位置敏感检测器（PSD）直接感测激光束的实际位置。使用一个或多个线性致动器改变扫描头和PSD之间的相对位置。围绕线性致动器闭合位置反馈回路，使得激光束在PSD上的相对位置被减小到零。然后通过附加到激光加工机的线性轴的编码器间接测量激光光斑的实际位置。实际位置存储在内存中。误差被确定为期望位置和实际位置之间的差。补偿系数由误差确定并存储以供激光加工机操作期间的后续使用。

4. 发明授权

US11651497B2 InSeGAN: a generative approach to instance segmentation in depth images 有权
公开(公告)号：US11651497B2
公开(公告)日：2023-05-16
申请号：US17212077
申请日：2021-03-25
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Anoop Cherian , Goncalo José Dias Pais , Tim Marks , Alan Sullivan
IPC分类号： G06T7/11 , G06T7/50 , G06T7/73 , G06N3/084 , G06N3/045
CPC分类号： G06T7/11 , G06N3/045 , G06N3/084 , G06T7/50 , G06T7/75 , G06T2207/20081 , G06T2207/20084
摘要： System and method for generating verisimilar images from real depth images. Train a generative adversarial neural network (GAN) by accessing test depth images having identical instances as instances of a real depth image. Input the test depth images in the generator to generate estimated depth images representing an implicit three-dimensional model of the object. Input, each estimated depth image into a discriminator to obtain a loss and into a pose encoder to obtain a matching loss. Iteratively repeat processes until the losses are minimized to a threshold, to end training. Identify the instances in the real image using the trained GAN pose encoder, to produce a pose transformation matrix for each instance in the real image. Identify pixels in the depth images corresponding to the instances of the real image and merge the pixels for the depth images to form an instance segmentation map for the real depth image.

5. 发明授权

US11582485B1 Scene-aware video encoder system and method 有权
公开(公告)号：US11582485B1
公开(公告)日：2023-02-14
申请号：US17650114
申请日：2022-02-07
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Anoop Cherian , Chiori Hori , Jonathan Le Roux , Tim Marks , Alan Sullivan
IPC分类号： H04N19/597 , H04N19/179 , H04N19/107 , G06F16/532 , G06T7/11 , G06V30/194 , H04N21/25
摘要： Embodiments of the present disclosure discloses a scene-aware video encoder system. The scene-aware encoder system transforms a sequence of video frames of a video of a scene into a spatio-temporal scene graph. The spatio-temporal scene graph includes nodes representing one or multiple static and dynamic objects in the scene. Each node of the spatio-temporal scene graph describes an appearance, a location, and/or a motion of each of the objects (static and dynamic objects) at different time instances. The nodes of the spatio-temporal scene graph are embedded into a latent space using a spatio-temporal transformer encoding different combinations of different nodes of the spatio-temporal scene graph corresponding to different spatio-temporal volumes of the scene. Each node of the different nodes encoded in each of the combinations is weighted with an attention score determined as a function of similarities of spatio-temporal locations of the different nodes in the combination.

6. 发明申请

US20180099151A1 Method of Visualizing and Setting Dose Constraints for Radiation Therapy 审中-公开
公开(公告)号：US20180099151A1
公开(公告)日：2018-04-12
申请号：US15290114
申请日：2016-10-11
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Alan Sullivan , Teng-Yok Lee
IPC分类号： A61N5/10 , A61B6/03
CPC分类号： A61N5/1031 , A61B6/032 , A61N5/1039 , A61N2005/1074
摘要： Systems and methods for radiation treatment for determining a dose of radiation. Determining, for a tumor voxel, a value for maximum and minimum constraints, for treating the tumor voxel based on a distance function of a distance field of the tumor and distance fields of organs at risk (OARs). Each constraint on each tumor voxel is a function of a distance from the tumor voxel to a boundary of the tumor, and distances to boundaries of OARs. Determining, for an OAR voxel, a value of a maximum constraint based on the distance field of the tumor. Each constraint on each OAR voxel is a function of a distance from the OAR voxel to the boundary of the tumor. Determining a tumor constraint and a corresponding OAR constraint according to a threshold constraint set, to obtain the constraint set. Determine the dose of radiation, according to the constraint set.

7. 发明授权

US11975451B2 Simulation-in-the-loop tuning of robot parameters for system modeling and control 有权
公开(公告)号：US11975451B2
公开(公告)日：2024-05-07
申请号：US17214810
申请日：2021-03-27
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Siddarth Jain , Jeroen van Baar , Radu Ioan Corcodel , Alan Sullivan , Mouhacine Benosman
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/163 , B25J9/1671 , B25J13/088
摘要： A system for parameter tuning for robotic manipulators is provided. The system includes an interface configured to receive a task specification, a plurality of physical parameters, and a plurality of control parameters, wherein the interface is configured to communicate with a real-world robot via a robot controller. The system further includes a memory to store computer-executable programs including a robot simulation module, a robot controller, and an auto-tuning module a processor, in connection with the memory. In this case, the processor is configured to acquire, in communication with the real-world robot, state values of the real-world robot, state values of the robot simulation module, simultaneously update, by use of a predetermined optimization algorithm with the auto-tuning module, an estimate of one or more of the physical, and said control parameters, and store the updated parameters.

8. 发明授权

US09892215B2 System and method for determining feedrates of machining tools 有权
公开(公告)号：US09892215B2
公开(公告)日：2018-02-13
申请号：US14033617
申请日：2013-09-23
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Huseyin Erdim , Alan Sullivan
IPC分类号： G06F17/50 , G05B19/18 , G05B19/4097 , G05B19/416
CPC分类号： G06F17/5009 , G05B19/18 , G05B19/4097 , G05B19/416 , G05B2219/35148 , G05B2219/49082
摘要： A method determines a feedrate of a tool machining a workpiece according to a path. The method partitions the path into a set of segments, such that within each segment a function of engagement of the tool and the workpiece is substantially constant. Next, the method determines a feedrate for each segment in the set.

9. 发明授权

US09718146B2 System and method for calibrating laser processing machines 有权
公开(公告)号：US09718146B2
公开(公告)日：2017-08-01
申请号：US13908190
申请日：2013-06-03
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Abraham M Goldsmith , Scott A Bortoff , Vijay Shilpiekandula , Alan Sullivan , William S Yerazunis , John C Barnwell, III
IPC分类号： G01B11/25 , B23K26/00 , H01S3/00 , G03F9/00 , G01J1/42
CPC分类号： B23K26/00 , B23K26/04 , G01B11/2504 , G01J1/4257 , G03F9/7019 , H01S3/0014
摘要： A method calibrates a laser processing machine by commanding a scan head to direct a laser beam to a desired position, then senses an actual position of the laser beam directly using a position sensitive detector (PSD) after the scan head is positioned. A relative position between the scan head and PSD is altered using one or more linear actuators. A position feedback loop is closed around the linear actuators so that the relative position of the laser beam on the PSD is reduced to zero. The actual position of the laser spot is then measured indirectly by encoders attached to linear axes of the laser processing machine. The actual position is stored in a memory. An error is determined as a difference between the desired position and the actual position. Compensation coefficients are determined from the error and stored for later use during operation of the laser processing machine.

10. 发明授权

US09304508B2 System and method for performing undo and redo operations during machining simulation 有权
标题翻译：在加工仿真期间执行撤消和重做操作的系统和方法
公开(公告)号：US09304508B2
公开(公告)日：2016-04-05
申请号：US13869135
申请日：2013-04-24
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Alan Sullivan , Dmytro Konobrytskyi
IPC分类号： G05B19/4097 , G05B19/4069
CPC分类号： G05B19/4097 , G05B19/4069 , G05B2219/35065
摘要： A method associates a cell in the composite adaptive distance field (cADF) with a machining instruction that changes a type of the cell or a type of a distance field in the cell in forming a composite surface of the workpiece to produce at least part of an association, and associates the distance field in the cell with the machining instruction changing the type of the distance field in forming the composite surface of the workpiece to produce at least part of the association. In response to receiving a command to undo a simulation of the machining to the intermediate machining instruction, a subset of cells and a subset of distance fields forming the composite surface of the workpiece at a time of the simulation by the intermediate machining instruction are identified using the association and the intermediate representation of the workpiece is determined using the subset of cells and the subset of distance fields.
摘要翻译：一种方法将复合自适应距离场（cADF）中的单元与在形成工件的复合表面的单元中改变单元的类型或距离场的类型的加工指令相关联，以产生至少部分关联并关联单元格中的距离场与加工指令，以在形成工件的复合表面时改变距离场的类型，以产生关联的至少一部分。响应于接收到用于撤销对中间加工指令的加工的模拟的命令，使用中间加工指令在仿真时形成单元的子集和形成工件的复合表面的距离场的子集，使用使用单元的子集和距离场的子集来确定工件的关联和中间表示。

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