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公开(公告)号：US09053394B2
公开(公告)日：2015-06-09
申请号：US13597911
申请日：2012-08-29
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： A system and method to identify fuel consumption optimization based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, which all represent opportunities for fuel savings, are identified and optimized for minimal fuel consumption based on a reactive interaction with the vehicle on a real-time basis. Deliberative analysis of historical data linked to a specific location or route is also conducted to arrive at a historical optimal fuel consumption profile. Similar historical fuel consumption profiles for the same route in question from other nearby vehicles are collected and analyzed to determined a more robust deliberative component of optimal fuel consumption. The reactive and deliberative components are optimized fuel consumption are merged to form a recommended profile for optimal fuel consumption.
摘要翻译： 描述了基于反应和审议组件来识别燃料消耗优化的系统和方法。 基于与车辆的反应性交互实时地识别和优化用于节省燃料的机会的可更新的使用条件，例如超速，过度怠速，齿轮选择，加速和减速曲线，这些都代表燃料节省的机会。 还对特定位置或路线的历史数据进行了审议分析，以得出历史最优燃料消耗曲线。 收集和分析与其他附近车辆相同的相同路线的类似历史燃料消耗曲线，以确定更为有力的最佳燃油消耗的考虑因素。 反应和审议的组件被优化燃料消耗被合并以形成推荐的轮廓以获得最佳燃料消耗。
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公开(公告)号：US20130054125A1
公开(公告)日：2013-02-28
申请号：US13597911
申请日：2012-08-29
IPC分类号： G06F17/00
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： A system and method to identify fuel consumption optimization based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, which all represent opportunities for fuel savings, are identified and optimized for minimal fuel consumption based on a reactive interaction with the vehicle on a real-time basis. Deliberative analysis of historical data linked to a specific location or route is also conducted to arrive at a historical optimal fuel consumption profile. Similar historical fuel consumption profiles for the same route in question from other nearby vehicles are collected and analyzed to determined a more robust deliberative component of optimal fuel consumption. The reactive and deliberative components are optimized fuel consumption are merged to form a recommended profile for optimal fuel consumption.
摘要翻译： 描述了基于反应和审议组件来识别燃料消耗优化的系统和方法。 基于与车辆的反应性交互实时地识别和优化用于节省燃料的机会的可更新的使用条件，例如超速，过度怠速，齿轮选择，加速和减速曲线，这些都代表燃料节省的机会。 还对特定位置或路线的历史数据进行了审议分析，以得出历史最优燃料消耗曲线。 收集和分析与其他附近车辆相同的相同路线的类似历史燃料消耗曲线，以确定更为有力的最佳燃油消耗的考虑因素。 反应和审议的组件被优化燃料消耗被合并以形成推荐的轮廓以获得最佳燃料消耗。
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公开(公告)号：US07587260B2
公开(公告)日：2009-09-08
申请号：US11428637
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G05B19/18
CPC分类号： G06N3/008 , G05D1/0088 , G05D2201/0209
摘要： A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.
摘要翻译： 机器人平台包括感知器，运动器和系统控制器，其执行用于自动导航机器人的指令。 指令在每次通过事件定时循环的迭代中重复，基于机器人的当前速度来定义事件范围的行为，检测机器人周围的障碍物的范围，通过确定是否存在障碍物的范围来测试事件水平入侵 在事件范围内，并相应调整机器人的旋转和平移速度。 如果发生事件地平线入侵，旋转速度被当前旋转速度的一部分减小到最近障碍物的一个比例范围，并且平移速度被改变为距离最近的障碍物的范围的比例。 如果没有发生事件地平线入侵，平移速度被设置为速度因子相对于最大速度的比率。
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公开(公告)号：US09195911B2
公开(公告)日：2015-11-24
申请号：US13597991
申请日：2012-08-29
申请人： David J. Bruemmer
发明人： David J. Bruemmer
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.
摘要翻译： 用于与环境相互作用的系统包括初始操作模块，其可操作以使设备在物体表面的大致方向上定向，并且范围控制模块可操作以使设备和表面收敛。 一旦设备和表面彼此靠近，接触传感器就会发现表面和设备之间的物理接触发生。 此后，本体感应模块测量表面和装置运动致动器之间的法向力差异，最后，测量表面与设备的相对运动之间的平移阻力差异的外部感应模块。 系统使用这些视差测量和执行器位置来修改设备的操作。
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公开(公告)号：US08972053B2
公开(公告)日：2015-03-03
申请号：US13598114
申请日：2012-08-29
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.
摘要翻译： 机器人有效载荷被抽象出来提供即插即用系统，其中特定任务能力可以在各种机器人平台上轻松配置。 提出了一种机器人有效载荷架构，其中机器人功能分为内核功能，由核心模块管理，以及任务特定能力，由任务负载模块处理。 通过这样做，核心模块管理特定的机器人平台的内在功能，而特定任务则留给任务有效载荷。 可以通过将多个任务负载模块添加到由同一个核心模块管理的同一平台中来编译任务特定的机器人配置。 在每种情况下，任务负载模块与核心模块进行通信，以获得与其关联的平台的信息。
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公开(公告)号：US08732592B2
公开(公告)日：2014-05-20
申请号：US12480459
申请日：2009-06-08
申请人： Curtis W. Nielsen , Matthew O. Anderson , Mark D. McKay , Derek C. Wadsworth , Jodie R. Boyce , Ryan C. Hruska , John A. Koudelka , Jonathon Whetten , David J. Bruemmer
发明人： Curtis W. Nielsen , Matthew O. Anderson , Mark D. McKay , Derek C. Wadsworth , Jodie R. Boyce , Ryan C. Hruska , John A. Koudelka , Jonathon Whetten , David J. Bruemmer
IPC分类号： G06F3/04815
CPC分类号： G06F3/0481 , G06T19/006
摘要： Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.
摘要翻译： 公开了与增强虚拟系统相关的系统和方法。 操作增强虚拟系统的方法可以包括在操作画面中显示真实环境的图像。 该方法还可以包括在操作画面中显示代表位于真实环境中的多个资产的至少一些资产的多个虚拟图标。 另外，该方法可以包括在操作画面中显示表示由多个资产中的一个或多个资产感测到的数据的至少一个虚拟项目，并通过与相关联的虚拟图标进行交互来远程控制多个资产中的至少一个资产 与至少一个资产。
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公开(公告)号：US20130050180A1
公开(公告)日：2013-02-28
申请号：US13598021
申请日：2012-08-29
申请人： David J. Bruemmer
发明人： David J. Bruemmer
IPC分类号： G06T1/00
CPC分类号： B25J9/1602 , B25J9/08 , B25J9/161 , B25J9/1633 , B25J9/1666 , B25J9/1684 , B25J9/1694 , B25J9/1697 , G01C21/34 , G06F3/016 , G06K9/00791 , G06K9/6293 , G06T11/206 , G08G1/22 , Y10S901/09 , Y10S901/10
摘要： Changes and anomalies in multi-modal data are detected, collected and abstracted into understandable and actionable formats utilizing, for example, color, intensity, icons and texture creating a rendition of current and developing situations and events. Changes and anomalies in multi-modal sensor data are detected, aggregated, abstracted and filtered using case-based reasoning providing a tractable data dimensionality. From this collection of data situations are recognized and presented in a means so as to assist a user in accessing an environment and formulate the basis a recommended course of action.
摘要翻译： 通过使用例如颜色，强度，图标和纹理的多模式数据的变化和异常被检测，收集和抽象成可理解和可操作的格式，从而产生当前和发展中的情况和事件的再现。 使用基于案例的推理来检测，聚合，抽象和过滤多模态传感器数据的变化和异常，从而提供易于处理的数据维度。 从这种数据情况的收集中，以一种手段识别和呈现，以便帮助用户访问环境，并制定推荐的行动方案。
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公开(公告)号：US07801644B2
公开(公告)日：2010-09-21
申请号：US11428729
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
CPC分类号： G06N3/008
摘要： The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.
摘要翻译： 本发明提供了用于通用机器人结构的方法，计算机可读介质和装置，其提供易于移植到各种机器人平台的框架，并且被配置为提供硬件抽象，通用机器人属性的抽象，环境抽象和机器人行为 。 通用机器人架构包括硬件抽象级别和机器人抽象级别。 硬件抽象级别被配置用于开发定义，监视和控制机器人平台上可用的硬件模块的硬件抽象。 机器人抽象级别被配置为定义机器人属性，并且提供用于从机器人属性构建机器人行为的软件框架。 每个机器人属性包括来自至少一个硬件抽象的硬件信息。 另外，每个机器人属性被配置为基本上将机器人行为与至少一个硬件抽象隔离开。
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公开(公告)号：US07668621B2
公开(公告)日：2010-02-23
申请号：US11428769
申请日：2006-07-05
申请人： David J. Bruemmer
发明人： David J. Bruemmer
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/0088 , G05D1/0223 , G05D2201/0209
摘要： A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.
摘要翻译： 机器人平台包括感知器，运动器以及系统控制器。 系统控制器执行指令，在每次迭代中重复通过事件定时循环，定义事件范围的行为，检测机器人周围的障碍物的范围，以及测试事件水平入侵。 定义事件范围包括确定与机器人的距离与机器人的当前速度成比例，并且测试事件水平线入侵包括确定障碍物的任何范围是否在事件范围内。 最后，在通过事件定时循环的每次迭代中，该方法包括如果发生事件水平入侵，则与事件定时循环的循环周期成比例地降低机器人的当前速度。
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公开(公告)号：US07584020B2
公开(公告)日：2009-09-01
申请号：US11428646
申请日：2006-07-05
申请人： David J. Bruemmer , Douglas A. Few
发明人： David J. Bruemmer , Douglas A. Few
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05D1/024 , G05D1/0274
摘要： A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.
摘要翻译： 机器人平台包括感知器，运动器和系统控制器。 系统控制器执行用于产生机器人周围的环境的占用网格图的指令，扫描环境以生成相对于当前机器人位置的当前障碍物图，并将当前障碍物图转换为当前占用网格图。 指令还包括在占用网格图中处理每个网格单元。 在每个网格单元的处理中，指令包括将占用网格图中的每个网格单元与当前占用网格图中的对应网格单元进行比较。 对于具有差异的网格单元，指令包括为每个改变的网格单元定义改变向量，其中改变向量包括从机器人到改变的网格单元的方向以及从机器人到改变的网格单元的范围。
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