公开(公告)号：US07908032B2

公开(公告)日：2011-03-15

申请号：US11799201

申请日：2007-05-01

申请人： Jun Morimoto ,  Gen Endo ,  Jun Nakanishi ,  Gordon Cheng

发明人： Jun Morimoto ,  Gen Endo ,  Jun Nakanishi ,  Gordon Cheng

IPC分类号： G06F19/00

CPC分类号： G06N3/008

摘要： A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.

摘要翻译： 机器人具有多个具有关节的肢体; 驱动部，用于周期性地驱动接头，以通过多个肢体在地板上形成周期性运动; 以及能够执行各种操作的控制器。 这些操作包括在周期性运动期间检测通过多个肢体接触地板接收的地板反作用力; 导致在运动期间从地面接触肢体接收的地面反作用力的中心位置和随时间改变中心位置; 基于导出的当前中心位置直接计算多个关节的期望角度，而不导出指示未来时间的中心位置的期望中心位置，基于计算出的所需角度来控制多个关节; 并用受控的多个关节来驱动机器人。

公开(公告)号：US20070092578A1

公开(公告)日：2007-04-26

申请号：US11258182

申请日：2005-10-26

申请人： Yasuhiro Itagaki ,  Nobuko Kanayama ,  Yasuhisa Iida ,  Jun Nakanishi

发明人： Yasuhiro Itagaki ,  Nobuko Kanayama ,  Yasuhisa Iida ,  Jun Nakanishi

IPC分类号： A61K36/45 ,  A61K35/56 ,  A61K31/59 ,  A61K31/12

CPC分类号： A61K36/45 ,  A61K8/64 ,  A61K8/67 ,  A61K8/987 ,  A61K31/12 ,  A61K31/59 ,  A61K35/618 ,  A61K38/1767 ,  A61Q19/02 ,  A61Q19/08 ,  A61K2300/00

摘要： A skin rejuvenating supplement composition for treating age spots, darkening of the skin, dry skin, calcium amino acid deficiencies, osteoporosis and eye site deficiencies. The composition contains 100 to 1,500 mg of pearl powder, 0.6 to 50 μkg Vitamin D, 1.5 to 20.0 mg of astaxanthin and 20 to 750 mg of bilberry extract. The composition can be administered in a tablet, also containing glycerol in an amount of about 500 mg, once or two times per day.

摘要翻译： 用于治疗老年斑，皮肤变黑，皮肤干燥，钙氨基酸缺乏，骨质疏松症和眼部缺陷的皮肤恢复补充剂组合物。 该组合物含有100〜1500mg的珍珠粉，0.6〜50muk的维生素D，1.5〜20.0mg的虾青素和20〜750mg的越橘提取物。 组合物可以在片剂中施用，还含有约500mg的甘油，每天一次或两次。

公开(公告)号：US07949428B2

公开(公告)日：2011-05-24

申请号：US11703332

申请日：2007-02-07

申请人： Gen Endo ,  Jun Morimoto ,  Jun Nakanishi ,  Gordon Chang

发明人： Gen Endo ,  Jun Morimoto ,  Jun Nakanishi ,  Gordon Chang

IPC分类号： G06F19/00

CPC分类号： B25J9/161 ,  G05B2219/39273 ,  G05B2219/40264 ,  G05B2219/40304 ,  G06N3/008

摘要： A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.

摘要翻译： 具有多个可移动部分的机器人装置包括运动控制部分，其根据显示自振动和夹带特性的振荡器的输出产生用于至少部分可移动部分的周期性运动的控制信号;环境测量部分 根据可移动部分的运动控制信号或可移动部分的运动时的物理环境来测量运动;周期性振荡器控制部分，根据测量结果向振荡器输入周期信号作为反馈 通过环境测量部分产生夹带现象和将非周期性或临时反馈信号输入到振荡器的非周期振荡器控制部分。

公开(公告)号：US07657345B2

公开(公告)日：2010-02-02

申请号：US10922907

申请日：2004-08-23

申请人： Gen Endo ,  Mitsuo Kawato ,  Gordon Cheng ,  Jun Nakanishi ,  Jun Morimoto

发明人： Gen Endo ,  Mitsuo Kawato ,  Gordon Cheng ,  Jun Nakanishi ,  Jun Morimoto

IPC分类号： B25J9/10 ,  G06F15/00 ,  G05B19/18 ,  G05B19/04

CPC分类号： B62D57/032 ,  B25J9/161 ,  B25J13/08

摘要： The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

摘要翻译： 机器人的可移动部分的运动被采取周期性的运动，使得通过调节可移动部分的转移，能够以广义的方式将机器人的姿态稳定地控制。 更具体地，一个或多于一个的相位发生器用于机器人系统，并且根据生成的相位选择多个控制器之一。 然后，控制器根据连续相位信息控制可动部分的驱动。 另外，从物理系统估计实际相位，并且通过使用估计值来调节相位发生器的频率和相位，同时机器人系统的物理相位和相位发生器受到相互夹带， 可以通过有效地利用机器人的动力来控制机器人的运动。

公开(公告)号：US06525447B2

公开(公告)日：2003-02-25

申请号：US09758819

申请日：2001-01-11

申请人： Makoto Kumatoriya ,  Jun Nakanishi ,  Masashi Omura

发明人： Makoto Kumatoriya ,  Jun Nakanishi ,  Masashi Omura

IPC分类号： H01L41187

CPC分类号： H03H9/0259 ,  C30B29/34 ,  C30B33/00 ,  H03H3/08 ,  Y10T29/42

摘要： A method for manufacturing a langasite single crystal substrate comprises the steps of polishing at least one of the main surfaces of a raw material substrate; and wet-etching said polished main surface of the substrate with a solution including H3PO4, HNO3 and CH3COOH.

摘要翻译： 一种用于制造朗氏单晶基板的方法包括以下步骤：抛光原料基板的至少一个主表面; 并用包含H 3 PO 4，HNO 3和CH 3 COOH的溶液湿蚀所述抛光的基底的主表面。

公开(公告)号：US20070260355A1

公开(公告)日：2007-11-08

申请号：US11799201

申请日：2007-05-01

申请人： Jun Morimoto ,  Gen Endo ,  Jun Nakanishi ,  Gordon Cheng

发明人： Jun Morimoto ,  Gen Endo ,  Jun Nakanishi ,  Gordon Cheng

IPC分类号： G06F19/00

CPC分类号： G06N3/008

摘要： A robot comprises: a plurality of limbs having joints; a driving section for driving said joints periodically; and a controller capable of performing operations of: deriving a center position of reaction forces received from ground contacting parts and a change in the center position; calculating a phase concerning periodic movement of own dynamical system elements on the basis of the center position and the change in the center position having been derived; calculating a phase of control system elements for controlling the periodic movement, on the basis of the calculated phase of the own dynamical system elements; calculating a desired value of an angle of the joints on the basis of the calculated phase of the control system elements; and outputting the calculated desired value of the angle as a desired control value to said driving section, wherein in accordance with the desired control value outputted from said controller, said driving section drives said joints periodically so that periodic movement is performed.

摘要翻译： 机器人包括：具有接头的多个肢体; 用于周期性地驱动所述接头的驱动部分; 以及能够执行以下操作的控制器：导出从接地部接收的反作用力的中心位置和中心位置的变化; 根据中心位置和中心位置的变化计算自身动力系统元件周期性运动的相位; 根据计算出的自身动力系统要素的相位，计算控制系统元件的相位来控制周期性运动; 基于计算出的控制系统元件的相位来计算接头的角度的期望值; 并将计算出的所需角度值作为期望的控制值输出到所述驱动部分，其中根据从所述控制器输出的所需控制值，所述驱动部分周期性地驱动所述接头从而进行周期性的移动。

公开(公告)号：US06356167B1

公开(公告)日：2002-03-12

申请号：US09374088

申请日：1999-08-12

申请人： Michio Kadota ,  Jun Nakanishi ,  Makoto Kumatoriya

发明人： Michio Kadota ,  Jun Nakanishi ,  Makoto Kumatoriya

IPC分类号： H03H925

CPC分类号： H03H9/25 ,  H03H9/0259

摘要： A surface acoustic wave resonator includes a piezoelectric substrate made of a langasite single crystal and an interdigital transducer made of Al provided on the surface of the piezoelectric substrate. A Euler angle (&phgr;, &thgr;, &phgr;) of the piezoelectric substrate is approximately (0°, 140° to 150°, 24° ±1°), and the film thickness H of the interdigital transducer is within the range of about 0.005 to 0.15 with respect to the wavelength &lgr; of a surface acoustic wave generated on the piezoelectric substrate.

摘要翻译： 表面声波谐振器包括由AlGaAs单晶构成的压电基板和由Al构成的交叉指型换能器，其设置在压电基板的表面上。 压电基片的欧拉角（phi，θ，phi）约为（0°，140°至150°，24°±1°），叉指式换能器的膜厚H在约0.005至 0.15相对于在压电基板上产生的表面声波的波长λ。

公开(公告)号：US5692145A

公开(公告)日：1997-11-25

申请号：US464576

申请日：1995-06-05

申请人： Jun Nakanishi

发明人： Jun Nakanishi

IPC分类号： G06F3/14 ,  G06F3/033 ,  G06F3/048 ,  G06F17/30

CPC分类号： G06F3/0481

摘要： A method and apparatus for permitting a user to perform operations between data of at least two tables. In the invention table icons each representing one of the at least two tables are displayed on a display and the user is permitted to move one of the table icons to a position on the display where the display of the one table icon overlaps the display of another of the at least two table icons and selects an operation to be executed between data of tables corresponding to the one and the other table icons. The operation selected by the user is automatically executed when the one table icon is moved to a position overlapping the other table icon. A new table including data resulting form the selected operation and a new table icon representing the new table is generated and the new table icon representing the new table is displayed.

摘要翻译： 一种用于允许用户在至少两个表的数据之间执行操作的方法和装置。 在本发明中，每个表示至少两个表中的一个的表格图表被显示在显示器上，并且允许用户将表格图标中的一个移动到显示器上的一个表格图标的显示与另一个表格图标的显示重叠的位置 的所述至少两个表格图标，并且选择要在与所述一个和另一个表格图标相对应的表格的数据之间执行的操作。 当一个桌子图标移动到与另一个桌子图标重叠的位置时，自动执行由用户选择的操作。 生成包括所选操作的结果的新表和表示新表的新表图标，并且显示表示新表的新表图标。

公开(公告)号：US4160116A

公开(公告)日：1979-07-03

申请号：US937460

申请日：1978-08-28

申请人： Michihiro Mieno ,  Hideki Mori ,  Jun Nakanishi ,  Juichi Kasai

发明人： Michihiro Mieno ,  Hideki Mori ,  Jun Nakanishi ,  Juichi Kasai

IPC分类号： C07C29/10 ,  C07C29/00

CPC分类号： C07C29/106

摘要： Process for the production of an alkylene glycol in which the hydration of an alkylene oxide is carried out in the presence of carbon dioxide using a quaternary phosphonium salt as a catalyst.

公开(公告)号：US20070220637A1

公开(公告)日：2007-09-20

申请号：US11703332

申请日：2007-02-07

申请人： Gen Endo ,  Jun Morimoto ,  Jun Nakanishi ,  Gordon Chang

发明人： Gen Endo ,  Jun Morimoto ,  Jun Nakanishi ,  Gordon Chang

IPC分类号： G08B21/00

CPC分类号： B25J9/161 ,  G05B2219/39273 ,  G05B2219/40264 ,  G05B2219/40304 ,  G06N3/008

摘要： A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.

摘要翻译： 具有多个可移动部分的机器人装置包括运动控制部分，其根据显示自振动和夹带特性的振荡器的输出产生用于至少部分可移动部分的周期性运动的控制信号;环境测量部分 根据可移动部分的运动控制信号或可移动部分的运动时的物理环境来测量运动;周期性振荡器控制部分，根据测量结果向振荡器输入周期信号作为反馈 通过环境测量部分产生夹带现象和将非周期性或临时反馈信号输入到振荡器的非周期振荡器控制部分。