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1.发明申请INTEGRATED FRAMEWORK FOR VEHICLE OPERATOR ASSISTANCE BASED ON A TRAJECTORY AND THREAT ASSESSMENT 有权基于检测和威胁评估的车辆操作员协助综合框架公开(公告)号：US20120083947A1
公开(公告)日：2012-04-05
申请号：US13254761
申请日：2010-07-15
CPC分类号： G05D1/0088 , B60W30/09 , G05D1/00 , G08G1/165 , G08G1/166
摘要： Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.
摘要翻译： 在统一的可配置框架内执行各种类型和级别的操作员辅助。 使用具有环境模型和设备和环境的当前状态的设备的模型来迭代地生成最佳设备控制输入的序列，当应用于设备的模型时，生成最佳设备轨迹通过 状态空间内的约束有限的走廊或区域。 该最佳轨迹和产生它的设备控制输入的顺序用于生成威胁评估度量。 基于此威胁评估，产生适当类型和级别的操作员协助。 操作员辅助模式包括警告，决策支持，操作员反馈，车辆稳定性控制以及自主或半自主的避险。 每个辅助模式产生的响应是相互一致的，因为它们是使用相同的最佳轨迹生成的。
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2.发明申请METHODS AND APPARATI FOR PREDICTING AND QUANTIFYING THREAT BEING EXPERIENCED BY A MODELED SYSTEM 有权模拟系统经验的预测和量化威胁的方法与装置公开(公告)号：US20120109610A1
公开(公告)日：2012-05-03
申请号：US13254746
申请日：2010-07-15
CPC分类号： G05D1/0088 , B60W30/09 , G05D1/00 , G08G1/165 , G08G1/166
摘要： A method predicts and quantifies the threat posed to a human-operated device based on an optimal device trajectory through a constraint-bounded corridor. A model of the device together with a model of anticipated hazards and the current state of both the device and the hazards are used to iteratively generate an optimal device trajectory through a constraint-bounded corridor or region within state space. Device dynamics are forward-simulated over a time horizon. A method generates a threat assessment metric from the resulting sequence of optimal vehicle states. This threat assessment may be used to devise various types and levels of operator assistance. The human operator can control the device within a safe corridor or region. Threat assessment is based on the nearness of successive optimal trajectory predictions to limits of safe device handling rather than on deviation from a predefined path.
摘要翻译： 一种方法基于通过约束有限走廊的最佳设备轨迹预测和量化对人为操作的设备构成的威胁。 使用设备的模型以及预期危害的模型以及设备和危险的当前状态来迭代地通过约束有界的走廊或状态空间内的区域生成最佳设备轨迹。 设备动态在时间范围内进行前向仿真。 一种方法从所得到的最佳车辆状态序列产生威胁评估度量。 该威胁评估可用于设计各种类型和级别的操作员协助。 人员可以在安全的走廊或区域内控制设备。 威胁评估是基于对安全设备处理的限制的连续优化轨迹预测的接近度，而不是偏离预定路径。
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公开(公告)号：US4303277A
公开(公告)日：1981-12-01
申请号：US118959
申请日：1980-02-06
摘要： A longwall mining machine comprises a rotatable cutting head having a configuration in the form of an equilateral triangle viewed along its axis of rotation and formed with a continuous auger along the outer surface of the head. Cutter bits are located on apexes of the auger. The cutting head is mounted on a boom adjacent the longwall and is geared to produce an eccentric Cardan motion to the head causing the cutter bits to follow a substantially square trajectory in a plane normal to the axis of rotation of the head. Production of coal dust is minimized by deep linear vertical and horizontal cuts extending downwardly from roof to floor. During rotation of the head, cut coal is augered outwardly from the longwall and dropped into a conveyor for removal to a collection area.
摘要翻译： 长壁采矿机包括可旋转的切割头，其具有沿其旋转轴线观察的等边三角形的构造，并沿着头部的外表面形成有连续的螺旋钻。 刀头位于螺旋钻的顶点。 切割头安装在与长壁相邻的起重臂上，并且适于产生对头部的偏心万向节运动，使得刀头在垂直于头部旋转轴线的平面中遵循基本上正方形的轨迹。 通过从屋顶向下向下延伸的深度线性垂直和水平切割，使煤尘的生产最小化。 在头部旋转期间，切割煤从长壁向外延伸并落入输送机中以移除到收集区域。
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4.发明授权Methods and apparati for predicting and quantifying threat being experienced by a modeled system 有权用于预测和量化建模系统所经历的威胁的方法和方法公开(公告)号：US08543261B2
公开(公告)日：2013-09-24
申请号：US13254746
申请日：2010-07-15
CPC分类号： G05D1/0088 , B60W30/09 , G05D1/00 , G08G1/165 , G08G1/166
摘要： A method predicts and quantifies the threat posed to a human-operated device based on an optimal device trajectory through a constraint-bounded corridor. A model of the device together with a model of anticipated hazards and the current state of both the device and the hazards are used to iteratively generate an optimal device trajectory through a constraint-bounded corridor or region within state space. Device dynamics are forward-simulated over a time horizon. A method generates a threat assessment metric from the resulting sequence of optimal vehicle states. This threat assessment may be used to devise various types and levels of operator assistance. The human operator can control the device within a safe corridor or region. Threat assessment is based on the nearness of successive optimal trajectory predictions to limits of safe device handling rather than on deviation from a predefined path.
摘要翻译： 一种方法基于通过约束有限走廊的最佳设备轨迹预测和量化对人为操作的设备构成的威胁。 使用设备的模型以及预期危害的模型以及设备和危险的当前状态来迭代地通过约束有界的走廊或状态空间内的区域生成最佳设备轨迹。 设备动态在时间范围内进行前向仿真。 一种方法从所得到的最佳车辆状态序列产生威胁评估度量。 该威胁评估可用于设计各种类型和级别的操作员协助。 人员可以在安全的走廊或区域内控制设备。 威胁评估是基于对安全设备处理的限制的连续优化轨迹预测的接近度，而不是偏离预定路径。
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5.发明授权Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment 有权基于轨迹预测和威胁评估的车辆驾驶员辅助综合框架公开(公告)号：US08437890B2
公开(公告)日：2013-05-07
申请号：US13254761
申请日：2010-07-15
CPC分类号： G05D1/0088 , B60W30/09 , G05D1/00 , G08G1/165 , G08G1/166
摘要： Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.
摘要翻译： 在统一的可配置框架内执行各种类型和级别的操作员辅助。 使用具有环境模型和设备和环境的当前状态的设备的模型来迭代地生成最佳设备控制输入的序列，当应用于设备的模型时，生成最佳设备轨迹通过 状态空间内的约束有限的走廊或区域。 该最佳轨迹和产生它的设备控制输入的顺序用于生成威胁评估度量。 基于此威胁评估，产生适当类型和级别的操作员协助。 操作员辅助模式包括警告，决策支持，操作员反馈，车辆稳定性控制以及自主或半自主的避险。 由每个辅助模式生成的响应是相互一致的，因为它们是使用相同的最佳轨迹生成的。
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公开(公告)号：US20100228427A1
公开(公告)日：2010-09-09
申请号：US12711935
申请日：2010-02-24
IPC分类号： G06F7/00
CPC分类号： G05D1/0088 , B60W30/09 , B60W50/0098 , B60W50/10 , G05D1/00 , G08G1/165 , G08G1/166
摘要： An active safety framework performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in a unified, optimal fashion. The vehicle navigation task is formulated as a constrained optimal control problem. A predictive, model-based controller iteratively plans an optimal or best-case vehicle trajectory through the constrained corridor. This best-case scenario is used to establish the minimum threat posed to the vehicle given its current state, current and past driver inputs/performance, and environmental conditions. Based on this threat assessment, the level of controller intervention required to prevent collisions or instability is calculated and driver/controller inputs are scaled accordingly. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a traversable corridor. It also provides a unified architecture into which various vehicle models, actuation modes, trajectory-planning objectives, driver preferences, and levels of autonomy can be seamlessly integrated without changing the underlying controller structure.
摘要翻译： 积极的安全框架以统一，最佳的方式对乘用车进行轨迹规划，威胁评估和半自主控制。 车辆导航任务被形成为约束最优控制问题。 一个预测的，基于模型的控制器迭代地计划通过约束走廊的最佳或最佳情况的车辆轨迹。 这种最佳情况用于根据当前状态，当前和过去的驾驶员输入/性能以及环境条件来确定对车辆的最小威胁。 基于这种威胁评估，计算防止碰撞或不稳定所需的控制器干预水平，并相应地调整驱动器/控制器输入。 这种方法使控制器干预最小化，同时确保车辆不会离开可穿越的走廊。 它还提供了统一的架构，可以在不改变底层控制器结构的情况下将各种车辆模型，操作模式，轨迹规划目标，驾驶员偏好和自主性水平无缝集成在一起。
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公开(公告)号：US5015039A
公开(公告)日：1991-05-14
申请号：US461950
申请日：1990-01-08
申请人： Sterling J. Anderson
发明人： Sterling J. Anderson
IPC分类号： E21C37/04
CPC分类号： E21C37/04
摘要： An apparatus (10) for placing a hard compact material such as rock surrounding a drill hole into axial tension for the purpose of breaking and excavating the material by virtue of a dual piston (23) and (25) arrangement disposed within a fluid cylinder (16) wherein the first piston (23) is attached to a thrust rod member (28) the second piston is attached to a wedge member (30) having an outwardly tapered conical end (34) and a feather member (40) surrounding the wedge (30) and thrust (28) members; wherein the feather segments (43) have a conical profile on both their internal and external peripheries.
摘要翻译： 一种装置（10），用于将围绕钻孔的硬质紧凑材料（例如围绕钻孔的岩石）放置在轴向张力中，以便通过设置在流体缸内的双活塞（23）和（25）布置来破坏和挖掘材料 16），其中所述第一活塞（23）附接到推杆构件（28），所述第二活塞附接到楔形构件（30），所述楔构件具有向外锥形的锥形端（34）和围绕所述楔的楔形构件（40） （30）和推力（28）成员; 其中所述羽毛段（43）在它们的内周和外周都具有锥形轮廓。
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