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公开(公告)号：US10452078B2
公开(公告)日：2019-10-22
申请号：US15591400
申请日：2017-05-10
Applicant: General Electric Company
Inventor： Yang Zhao , Mauricio Castillo-Effen , Ghulam Ali Baloch , Huan Tan , Douglas Forman
Abstract: Provided are systems and methods for autonomous robotic localization. In one example, the method includes receiving ranging measurements from a plurality of fixed anchor nodes that each have a fixed position and height with respect to the asset, receiving another ranging measurement from an aerial anchor node attached to an unmanned robot having a dynamically adjustable position and height different than the fixed position and height of each of the plurality of anchor nodes, and determining a location of the autonomous robot with respect to the asset based on the ranging measurements received from the fixed anchor nodes and the aerial anchor node, and autonomously moving the autonomous robot about the asset based on the determined location.
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公开(公告)号：US20170165839A1
公开(公告)日：2017-06-15
申请号：US14966717
申请日：2015-12-11
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Mauricio Castillo-Effen , Romano Patrick , Balajee Kannan , Yonatan Gefen
CPC classification number: B25J9/1697 , B25J9/1666 , B25J9/1679 , B25J11/00 , B25J13/085 , B25J15/00 , B25J19/021 , B60T7/16 , B60T15/048 , B60T15/54 , B61H13/02 , G05B2219/40039 , G05B2219/40586 , G05B2219/40613 , Y10S901/01
Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.
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公开(公告)号：US20160278746A1
公开(公告)日：2016-09-29
申请号：US14671252
申请日：2015-03-27
Applicant: GENERAL ELECTRIC COMPANY
Inventor： Ileana Hancu , Robert David Darrow , Eric William Fiveland , Mauricio Castillo-Effen , Seung-Kyun Lee
CPC classification number: A61B10/0266 , A61B5/004 , A61B5/055 , A61B5/06 , A61B5/4312 , A61B34/20 , A61B90/11 , A61B2034/2048 , A61B2505/05 , G01R33/4808
Abstract: The system and method of the invention pertains to an MR-guided breast biopsy procedure, specifically as to real-time tracking and navigation of a biopsy device. More particularly, the system utilizes a diagnostic imaging modality such as magnetic resonance imaging (MRI) to locate lesions in a human breast while utilizing an inertial measurement unit (IMU) to track advancement of a biopsy device in real-time. The invention simplifies the workflow of MRI-guided breast biopsies, shortens the time needed to perform the biopsy, decreases cost, and increases accuracy. This is achieved by enabling real-time visualization of the biopsy device as it advances towards the targeted lesion.
Abstract translation: 本发明的系统和方法涉及MR指导的乳腺活检程序，具体涉及活检装置的实时跟踪和导航。 更具体地，系统利用诸如磁共振成像（MRI）的诊断成像模式来定位人乳房中的病变，同时利用惯性测量单元（IMU）来实时跟踪活检装置的进展。 本发明简化了MRI指导乳腺活组织检查的工作流程，缩短了进行活组织检查所需的时间，降低了成本，提高了准确性。 这是通过使活检装置在朝向目标病变的方向上实时可视化来实现的。
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公开(公告)号：US10800039B2
公开(公告)日：2020-10-13
申请号：US15877796
申请日：2018-01-23
Applicant: General Electric Company
Inventor： Huan Tan , Ghulam Ali Baloch , Yang Zhao , Mauricio Castillo-Effen
IPC: G05B19/04 , G05B19/18 , B25J9/16 , G10L15/22 , G06K9/00 , G06K9/62 , B25J19/02 , B25J13/00 , G06F3/16 , G10L15/19
Abstract: The example embodiments are directed to a system and method for controlling and commanding an unmanned robot using natural interfaces. In one example, the method includes receiving a plurality of sensory inputs from a user via one or more natural interfaces, wherein each sensory input is associated with an intention of the user for an unmanned robot to perform a task, processing each of the plurality of sensory inputs using a plurality of channels of processing to produce a first recognition result and a second recognition result, combining the first recognition result and the second recognition result to determine a recognized command, and generating a task plan assignable to the unmanned robot based on the recognized command and predefined control primitives.
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公开(公告)号：US10777004B2
公开(公告)日：2020-09-15
申请号：US16684212
申请日：2019-11-14
Applicant: General Electric Company
Inventor： Steven Gray , Shiraj Sen , Ghulam Ali Baloch , Mauricio Castillo-Effen , Charles Theurer
Abstract: Provided are systems and methods for generating an autonomous 3D inspection plan for an unmanned robot. In an example, the method may include receiving a selection of a plurality of regions of interest with respect to a virtual asset displayed in virtual space, detecting a 3D position of the regions of interest within a coordinate frame of the virtual space, auto-generating a travel path about a physical asset corresponding to the virtual asset by generating a virtual 3D travel path with respect to the virtual asset based on the detected 3D positions of the selected regions of interest within the coordinate frame, aligning the virtual 3D travel path in the virtual space with a physical travel path in a physical space, and outputting a robotic inspection plan comprising the auto-generated physical travel path for the unmanned robot.
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Patent Agency Ranking
16.发明授权公开(公告)号：US10249197B2
公开(公告)日：2019-04-02
申请号：US15082885
申请日：2016-03-28
Applicant: General Electric Company
Abstract: A system, medium, and method, including receiving a set of formalized requirements for accomplishing a mission; allocating, by the processor using architecture synthesis, constraint solving, and compositional verification techniques, a role to each of a plurality of assets comprising a team of autonomous entities, the team to execute specific tasks according to their role to accomplish the mission; and generating, by the processor using controller synthesis and verification techniques, automata for accomplishing the mission for the plurality of assets, the automata being encoded to confer an ability to dynamically react to external inputs during a run-time execution of the automata by the plurality of assets.
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公开(公告)号：US10096252B2
公开(公告)日：2018-10-09
申请号：US15196741
申请日：2016-06-29
Applicant: General Electric Company
Inventor： Liling Ren , Harold Woodruff Tomlinson , Vincent Paul Staudinger , Jeffrey Russell Bult , Mauricio Castillo-Effen , Szabolcs Andras Borgyos , Stephen Koszalka
Abstract: A method, medium, and system to receive flight parameter data relating to a plurality of flights, the flight parameter data including indications of aircraft performance based navigation (PBN) capabilities, flight plan information, an aircraft configuration, and an airport configuration for the plurality of flights; assign probabilistic properties to the flight parameter data; receive accurate and current position and predicted flight plan information for a plurality of aircraft corresponding to the flight parameter data; determine a probabilistic trajectory for two of the plurality of aircraft based on a combination of the probabilistic properties of the flight parameter data and the position and predicted flight plan information, the probabilistic trajectory being specific to the two aircraft and including a target spacing specification to maintain a predetermined spacing between the two aircraft at a target location with a specified probability; and generate a record of the probabilistic trajectory for the two aircraft.
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公开(公告)号：US10029372B2
公开(公告)日：2018-07-24
申请号：US14966717
申请日：2015-12-11
Applicant: General Electric Company
Inventor： Huan Tan , John Michael Lizzi , Douglas Forman , Charles Burton Theurer , Omar Al Assad , Mauricio Castillo-Effen , Romano Patrick , Balajee Kannan , Yonatan Gefen
IPC: G05B19/04 , G05B19/18 , B25J9/16 , B60T15/54 , B61H13/02 , B25J13/08 , B25J11/00 , B25J15/00 , B25J19/02 , B60T7/16 , B60T15/04
Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.
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公开(公告)号：US20170326729A1
公开(公告)日：2017-11-16
申请号：US15473345
申请日：2017-03-29
Applicant: General Electric Company
Inventor： Eric Michael Gros , Huan Tan , Mauricio Castillo-Effen , Charles Burton Theurer
CPC classification number: B25J9/1661 , B25J9/1602 , B25J9/163 , B25J9/1664 , B25J9/1671 , B25J9/1697 , F01D5/005 , F22B37/00 , G05B19/042 , G05B19/048 , G05B19/4065 , G05B19/4097 , G05B2219/35134 , G05B2219/40323 , G05B2219/42329 , G05B2219/49007 , G05D1/0094 , G05D1/101 , G06Q10/08 , Y02P90/083 , Y10S901/01 , Y10S901/44
Abstract: A robotic system includes a processing system comprising at least one processor. The processor generates a plan to monitor the asset. The plan comprises one or more tasks to be performed by the at least one robot. The processor receives sensor data from at least one sensor indicating one or more characteristics of the asset. The processor adjusts the plan to monitor the asset by adjusting or adding one or more tasks to the plan based on one or both of the quality of the acquired data or a potential defect of the asset. The adjusted plan causes the at least one robot to acquire additional data related to the asset when executed.
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20.发明授权公开(公告)号：US10682677B2
公开(公告)日：2020-06-16
申请号：US15591851
申请日：2017-05-10
Applicant: General Electric Company
Inventor： Shiraj Sen , Steven Gray , Nicholas Abate , Roberto Silva Filho , Ching-Ling Huang , Mauricio Castillo-Effen , Ghulam Ali Baloch , Raju Venkataramana , Douglas Forman
Abstract: A three-dimensional model data store may contain a three-dimensional model of an industrial asset, including points of interest associated with the industrial asset. An inspection plan data store may contain an inspection plan for the industrial asset, including a path of movement for an autonomous inspection robot. An industrial asset inspection platform may receive sensor data from an autonomous inspection robot indicating characteristics of the industrial asset and determine a current location of the autonomous inspection robot along the path of movement in the inspection plan along with current context information. A forward simulation of movement for the autonomous inspection robot may be executed from the current location, through a pre-determined time window, to determine a difference between the path of movement in the inspection plan and the forward simulation of movement along with future context information.
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