公开(公告)号：US06411871B1

公开(公告)日：2002-06-25

申请号：US09924226

申请日：2001-08-06

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C300

CPC classification number: G01S17/66 ,  B64G1/24 ,  B64G1/36 ,  B64G1/66 ,  B64G2001/247 ,  G01S17/89 ,  G05D1/0883

Abstract: An autonomous navigation, guidance, and control process for docking and formation flying by utilizing the laser dynamic range imager (LDRI) and key technologies, including fuzzy logic based guidance and control, optical flow calculation (including cross-correlation, phase-correlation, and image differential), software design and implementation, and verification methods. The autonomous navigation, guidance, and control process includes the steps of providing an expected reference position relative to a target; generating a carrier position and attitude relative to said target by a Range and Intensity Images Provider; producing a relative position and attitude error; and producing control commands from said relative position and attitude error for relative motion dynamics.

Abstract translation: 通过利用激光动态范围成像仪（LDRI）和关键技术（包括基于模糊逻辑的指导和控制），光流计算（包括互相关，相位相关和相关关系）进行对接和形成飞行的自主导航，指导和控制过程 图像差分），软件设计和实现以及验证方法。 自主导航，指导和控制过程包括提供相对于目标的预期参考位置的步骤; 通过范围和强度图像提供者产生相对于所述目标的载体位置和态度; 产生相对位置和态度误差; 并从相对运动动力学的相对位置和姿态误差产生控制命令。

公开(公告)号：US20130012821A1

公开(公告)日：2013-01-10

申请号：US13135544

申请日：2011-07-08

Applicant: Ching-Fang Lin ,  Stephen Oonk

Inventor： Ching-Fang Lin ,  Stephen Oonk

IPC: A61B19/00 ,  A61B6/00

CPC classification number: A61B34/73 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2034/302 ,  A61B2034/303

Abstract: A miniature in-vivo robotic module to be used for conducting dexterous manipulations on organs and other target entities in a patient's abdominal or peritoneal cavity as part of Natural Orifice Transluminal Endoscopic Surgery (NOTES) is disclosed in this invention. The robotic module is a serial manipulator consisting of seven cylindrical links and six actively controllable rotational degrees of freedom, thereby enabling an end effector equipped with a laparoscopic type instrument to assume a commanded position and orientation within the robot's workspace. After overtube navigation starting from a natural orifice or preexisting wound, the module must be anchored and guided to a designated location along the inner abdominal cavity wall. This is accomplished via magnetic coupling forces between internal embedded magnets and magnets fixed to the end of a different robotic manipulator located external to the patient.

Abstract translation: 在本发明中公开了一种用于对患者的腹部或腹膜腔中的器官和其他目标实体进行灵巧操作的微型体内机器人模块，作为天然口腔内镜手术（NOTES）的一部分。 机器人模块是由七个圆柱形连杆和六个主动控制的旋转自由度组成的串联操纵器，从而使具有腹腔镜型仪器的末端执行器能够在机器人工作空间内采取指令位置和方位。 在从天然孔或预先存在的伤口开始的超声导管之后，模块必须锚定并被引导到沿着内腹壁的指定位置。 这是通过固定在位于患者外部的不同机器人操纵器的端部的内部嵌入式磁体和磁体之间的磁耦合力来实现的。

公开(公告)号：US08311757B2

公开(公告)日：2012-11-13

申请号：US12228766

申请日：2008-08-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C25/00 ,  G01C19/00

CPC classification number: G01C21/16 ,  F41G1/50 ,  F41G3/02 ,  F41G3/14 ,  F41G3/18 ,  F41G5/06

Abstract: An innovative configuration of Miniaturized Smart Self-calibration EPD for mortar applications, as the azimuth/heading and elevation measurement device. This innovative EPD configuration uses only two FOGs or DTG and accelerometers and it is self-contained. This leads to a new EPD implementation that produces a small and light device with lower cost and adequate accuracy for the small dismounted mortar applications.

Abstract translation: 作为方位角/航向和仰角测量装置，用于砂浆应用的小型智能自校准EPD的创新配置。 这种创新的EPD配置仅使用两个FOG或DTG和加速度计，它是独立的。 这导致了一种新的EPD实现，可以为小型拆卸的砂浆应用产生较小的成本和足够的精度的小型轻型设备。

公开(公告)号：US08195343B2

公开(公告)日：2012-06-05

申请号：US12154033

申请日：2008-05-19

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G05D1/02 ,  G01S19/38

CPC classification number: G01S19/49

Abstract: A method and system for multi-tracking among independent individuals without a monitoring center, where an individual is a person, a vehicle, or any other property, enables the individuals to be networked in a group and each individual to search and track other individuals of interest. The portable multi-tracking system is also capable of tracking personnel inside a building, where a self-contained positioning device provides continuous carrier's position information. In the open area a GPS (Global Positioning System) unit is activated to provide precision absolute position data which can be blended with the self-contained data to improve the accuracy and robustness of the positioning services. Thus the present invention provides excellent position tracking outside a building.

Abstract translation: 在没有监控中心的个人之间进行多追踪的方法和系统，其中个人是人，车辆或任何其他财产，使得个人能够联网在一个组中，并且每个人都可以搜索和跟踪其他个人的 利益。 便携式多追踪系统还能够跟踪建筑物内的人员，其中独立的定位设备提供连续的运营商的位置信息。 在开放区域，GPS（全球定位系统）单元被激活以提供精确的绝对位置数据，其可与自包含数据混合以提高定位服务的准确性和鲁棒性。 因此，本发明在建筑物外部提供优异的位置跟踪。

公开(公告)号：US20110093250A1

公开(公告)日：2011-04-21

申请号：US12924359

申请日：2010-09-24

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06G7/48 ,  G06F19/00

CPC classification number: G06F17/5086 ,  G01C19/38

Abstract: A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS is a modularized software system which has four major components: the 6DOF Motion Simulator, the IMU Sensor Simulator, the Gyrocompass System and Calibration Process Simulator, the Gyrocompass System Evaluation and Analysis Module. Each module has one or two graphic user interfaces (GUIs) as user interfaces for simulation components selection and parameter setting. The modular architecture of GMSS makes it very flexible for programming and testing. And, the component-based software development technology greatly eases system extension and maintenance. The simulators can be used as either an off-line tool or as a real-time simulation tool. The realization of the GMSS can be based on any computer platforms, for it is written in high level language and tools and is portable. The stochastic signal analysis and sensor testing and modeling tools comprise a suite of generic statistical analysis software, including Allan Variance and PSD analysis tools, which are available to every GMSS module and greatly enhanced the system functionality.

Abstract translation: 与目标定位（FTL）系统相关的陀螺仪的建模，设计，分析，仿真和评估（MDASE）方面包括陀螺仪建模与仿真系统（GMSS）。 GMSS是一个模块化的软件系统，它有四个主要部分：6DOF运动模拟器，IMU传感器模拟器，陀螺仪系统和校准过程模拟器，陀螺仪系统评估和分析模块。 每个模块都有一个或两个图形用户界面（GUI）作为模拟组件选择和参数设置的用户界面。 GMSS的模块化架构使其对编程和测试非常灵活。 而且，基于组件的软件开发技术大大简化了系统的扩展和维护。 模拟器可以用作离线工具或实时仿真工具。 GMSS的实现可以基于任何计算机平台，因为它是用高级语言和工具编写的，是便携式的。 随机信号分析和传感器测试和建模工具包括一套通用统计分析软件，包括Allan Variance和PSD分析工具，可用于每个GMSS模块，并大大增强了系统功能。

公开(公告)号：US07376262B2

公开(公告)日：2008-05-20

申请号：US10912401

申请日：2004-08-04

Applicant: Guohui Hu ,  Norman Coleman ,  Ching-Fang Lin

Inventor： Guohui Hu ,  Norman Coleman ,  Ching-Fang Lin

IPC: G06K9/00 ,  G06K9/46

CPC classification number: G06K9/6293 ,  G06K9/3216 ,  G06T7/74

Abstract: An object positioning solves said problems encountered in machine vision, which employs electro-optic (EO) image sensors enhanced with integrated laser ranger, global positioning system/inertial measurement unit, and integrates these data to get reliable and real time object position. An object positioning and data integrating system comprises EO sensors, a MEMS IMU, a GPS receiver, a laser ranger, a preprocessing module, a segmentation module, a detection module, a recognition module, a 3D positioning module, and a tracking module, in which autonomous, reliable and real time object positioning and tracking can be achieved.

Abstract translation: 物体定位解决了机器视觉中遇到的问题，采用了采用集成激光测距仪，全球定位系统/惯性测量单元增强的电光（EO）图像传感器，并集成了这些数据，获得可靠实时的物体位置。 对象定位和数据集成系统包括EO传感器，MEMS IMU，GPS接收器，激光巡逻器，预处理模块，分割模块，检测模块，识别模块，3D定位模块和跟踪模块， 可以实现自主，可靠和实时的对象定位和跟踪。

公开(公告)号：US07239975B2

公开(公告)日：2007-07-03

申请号：US11212062

申请日：2005-08-24

Applicant: Norman Coleman ,  George Papanagopoulos ,  Ken Lam ,  Ching-Fang Lin

Inventor： Norman Coleman ,  George Papanagopoulos ,  Ken Lam ,  Ching-Fang Lin

IPC: G06F15/00

CPC classification number: G01C21/18

Abstract: The present invention provides a method and system for an innovative design of the automatic stabilization and pointing control of a device based on the MEMS technology, which is small enough and has acceptable accuracy to be integrated into many application systems, such as, laser pointing systems, telescopic systems, imaging systems, and optical communication systems. The stabilization mechanism configuration design is based on utilization of AGNC commercial products, the coremicro IMU and the coremicro AHRS/INS/GPS Integration Unit. The coremicro AHRS/INS/GPS Integration Unit is used as the processing platform core for the design of the MEMS coremicro IMU based stabilization mechanism.

Abstract translation: 本发明提供了一种用于基于MEMS技术的设备的自动稳定和指向控制的创新设计的方法和系统，该MEMS技术足够小并且具有可接受的精度被集成到许多应用系统中，例如激光指向系统 伸缩系统，成像系统和光通信系统。 稳定机构配置设计是基于AGNC商用产品，核心IMU和核心AHRS / INS / GPS集成单元的利用。 核心微型AHRS / INS / GPS集成单元用作基于MEMS芯片IMU的稳定机制设计的处理平台核心。

公开(公告)号：US07143130B2

公开(公告)日：2006-11-28

申请号：US09733859

申请日：2000-12-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F15/16

CPC classification number: G01C21/26 ,  G01S5/0027 ,  G01S5/0072 ,  G01S5/02 ,  G08G1/20 ,  H04L67/00 ,  H04L67/04 ,  H04W8/24 ,  H04W24/00 ,  H04W64/00 ,  H04W84/20

Abstract: A method and system for multi-tracking among independent individuals without a monitoring center, where an individual is a person, a vehicle, or any other property, enables the individuals to be networked in a group and each individual to search and track other individuals of interest. The portable multi-tracking system is also capable of tracking personnel inside a building, where a self-contained positioning device provides continuous carrier's position information. In the open area a GPS (Global Positioning System) unit is activated to provide precision absolute position data which can be blended with the self-contained data to improve the accuracy and robustness of the positioning services. Thus the present invention provides excellent position tracking outside a building.

Abstract translation: 在没有监控中心的个人之间进行多追踪的方法和系统，其中个人是人，车辆或任何其他财产，使得个人能够联网在一个组中，并且每个人都可以搜索和跟踪其他个人的 利益。 便携式多追踪系统还能够跟踪建筑物内的人员，其中独立的定位设备提供连续的运营商的位置信息。 在开放区域，GPS（全球定位系统）单元被激活以提供精确的绝对位置数据，其可与自包含数据混合以提高定位服务的准确性和鲁棒性。 因此，本发明在建筑物外部提供优异的位置跟踪。

公开(公告)号：US06868421B1

公开(公告)日：2005-03-15

申请号：US09724430

申请日：2000-11-27

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F7/00 ,  G06F17/30

CPC classification number: G06F17/30241 ,  G06F17/30569 ,  Y10S707/99942 ,  Y10S707/99943

Abstract: A method of converting a geospatial database into a compressive database for multiple dimensional data storage by constructing computer storage data language or format includes the steps of partitioning the geospatial database into a plurality of data segments; selecting a specific point position in each of the data segments as a reference point position (RPP), and then forming a set of reference point positions for the original geospatial database; providing a coordinate origin point for each of the data segments; converting the geodetic coordinates of the original geospatial database within each of the data segments into corresponding local coordinates, and converting the set of reference point positions and the local geodetic coordinates of each of the data segments into pixel coordinates in form of a pixel coordinate system to form a specific digital map database.

Abstract translation: 通过构建计算机存储数据语言或格式将地理空间数据库转换为用于多维数据存储的压缩数据库的方法包括以下步骤：将地理空间数据库分割成多个数据段; 选择每个数据段中的特定点位置作为参考点位置（RPP），然后形成用于原始地理空间数据库的一组参考点位置; 为每个数据段提供坐标原点; 将每个数据段内的原始地理空间数据库的大地坐标转换为对应的局部坐标，并将每个数据段的参考点位置和局部大地坐标组合转换为像素坐标系的形式的像素坐标， 形成一个特定的数字地图数据库。

公开(公告)号：US20050031167A1

公开(公告)日：2005-02-10

申请号：US10912401

申请日：2004-08-04

Applicant: Guohui Hu ,  Norman Coleman ,  Ching-Fang Lin

Inventor： Guohui Hu ,  Norman Coleman ,  Ching-Fang Lin

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G06T7/00

CPC classification number: G06K9/6293 ,  G06K9/3216 ,  G06T7/74

Abstract: An object positioning solves said problems encountered in machine vision, which employs electro-optic (EO) image sensors enhanced with integrated laser ranger, global positioning system/inertial measurement unit, and integrates these data to get reliable and real time object position. An object positioning and data integrating system comprises EO sensors, a MEMS IMU, a GPS receiver, a laser ranger, a preprocessing module, a segmentation module, a detection module, a recognition module, a 3D positioning module, and a tracking module, in which autonomous, reliable and real time object positioning and tracking can be achieved.

Abstract translation: 物体定位解决了机器视觉中遇到的问题，采用了采用集成激光测距仪，全球定位系统/惯性测量单元增强的电光（EO）图像传感器，并集成了这些数据，获得可靠实时的物体位置。 对象定位和数据集成系统包括EO传感器，MEMS IMU，GPS接收器，激光巡逻器，预处理模块，分割模块，检测模块，识别模块，3D定位模块和跟踪模块， 可以实现自主，可靠和实时的对象定位和跟踪。