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    Effective marine stabilized antenna system
    1.
    发明授权
    Effective marine stabilized antenna system 有权
    有效的海洋稳定天线系统

    公开(公告)号：US08648748B2

    公开(公告)日：2014-02-11

    申请号：US13026255

    申请日：2011-02-13

    申请人： Azriel Yakubovich ,  Guy Naym ,  Idan Fogel ,  Ervin Rozman ,  Shlomo Levi ,  Michael Greenspan ,  Moshe Gvili ,  Or Dadush ,  Benny Ben Rey

    发明人： Azriel Yakubovich ,  Guy Naym ,  Idan Fogel ,  Ervin Rozman ,  Shlomo Levi ,  Michael Greenspan ,  Moshe Gvili ,  Or Dadush ,  Benny Ben Rey

    IPC分类号： H01Q19/18 ,  H01Q3/08 ,  H01Q19/19

    CPC分类号： H01Q19/192 ,  H01Q1/125 ,  H01Q1/34 ,  H01Q3/08

    摘要： An effective marine stabilized antenna system, in terms of antenna to radome size and antenna/RF performance complies with all relevant worldwide SatCom regulations. The combination of a dual offset Gregorian antenna (DOGA) with a stabilized polarization over elevation over tilt over azimuth pedestal, and a control/stabilization algorithm, ensures antenna orientation restrictions guarantee compliance with side-lobe intensity regulations. Operating a dual offset Gregorian antenna substantially within a pre-determined antenna cut range of a 45 degree angle relative to a configuration of the antenna and a relative position of a target provides antenna performance that complies with applicable SatCom regulations, despite having to flip the antenna 90 degrees to continue tracking the satellite.

    摘要翻译： 在天线到天线罩尺寸和天线/射频性能方面，有效的海洋稳定天线系统符合世界各地相关的SatCom法规。 双偏移公差天线（DOGA）与方位角基座上的倾斜稳定极化以及控制/稳定算法的组合确保了天线方向限制，以确保符合旁瓣强度规定。 基本上在相对于天线的配置的45度角的预定天线切割范围内操作双偏移公里天线，并且目标的相对位置提供符合可适用的SatCom规则的天线性能，尽管必须翻转天线 90度继续跟踪卫星。

    EFFECTIVE MARINE STABILIZED ANTENNA SYSTEM
    2.
    发明申请
    EFFECTIVE MARINE STABILIZED ANTENNA SYSTEM 有权
    有效的海洋稳定天线系统

    公开(公告)号：US20110304496A1

    公开(公告)日：2011-12-15

    申请号：US13026255

    申请日：2011-02-13

    申请人： Azrial Yakubovich ,  Guy Naym ,  Idan Fogel ,  Ervin Rozman ,  Shlomo Levi ,  Michael Greenspan ,  Moshe Gvili ,  Or Dadush ,  Benny Ben Rey

    发明人： Azrial Yakubovich ,  Guy Naym ,  Idan Fogel ,  Ervin Rozman ,  Shlomo Levi ,  Michael Greenspan ,  Moshe Gvili ,  Or Dadush ,  Benny Ben Rey

    IPC分类号： G01S13/50 ,  H01Q3/00

    CPC分类号： H01Q19/192 ,  H01Q1/125 ,  H01Q1/34 ,  H01Q3/08

    摘要： An effective marine stabilized antenna system, in terms of antenna to radome size and antenna/RF performance complies with all relevant worldwide SatCom regulations. The combination of a dual offset Gregorian antenna (DOGA) with a stabilized polarization over elevation over tilt over azimuth pedestal, and a control/stabilization algorithm, ensures antenna orientation restrictions guarantee compliance with side-lobe intensity regulations. Operating a dual offset Gregorian antenna substantially within a pre-determined antenna cut range of a 45 degree angle relative to a configuration of the antenna and a relative position of a target provides antenna performance that complies with applicable SatCom regulations, despite having to flip the antenna 90 degrees to continue tracking the satellite.

    摘要翻译： 在天线到天线罩尺寸和天线/射频性能方面，有效的海洋稳定天线系统符合世界各地相关的SatCom法规。 双偏移公差天线（DOGA）与方位角基座上的倾斜稳定极化以及控制/稳定算法的组合确保了天线方向限制，以确保符合旁瓣强度规定。 基本上在相对于天线的配置的45度角的预定天线切割范围内操作双偏移公里天线，并且目标的相对位置提供符合可适用的SatCom规则的天线性能，尽管必须翻转天线 90度继续跟踪卫星。

    Method and apparatus for positional error correction in a robotic pool systems using a cue-aligned local camera
    3.
    发明申请
    Method and apparatus for positional error correction in a robotic pool systems using a cue-aligned local camera 失效
    在使用提示对准的本地摄像机的机器人池系统中进行位置误差校正的方法和装置

    公开(公告)号：US20060063599A1

    公开(公告)日：2006-03-23

    申请号：US11233375

    申请日：2005-09-23

    申请人： Michael Greenspan

    发明人： Michael Greenspan

    IPC分类号： A63D15/00

    CPC分类号： B25J9/1697 ,  A63D15/00

    摘要： The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot. By comparing the ball locations perceived from the vantage of the local camera with the known ball locations determined from the global camera image, the invention can calculate the acquired robotic positioning error, which can then be corrected for prior to placing the shot.

    摘要翻译： 本发明提供一种用于精确地定位机器人游泳池装置的方法和装置。 该系统包括计算机控制的机器人定位装置，例如龙门架机器人，其可以将提示定位在台球台上并放置一个镜头。 将全景照相机安装在天花板上俯视桌子上，并将获取的图像传送到计算机进行分析，以确定球在坐标参考坐标系中的身份和位置。 计算机还自动确定要击球的位置。 本发明的一个方面是使用安装在机器人末端执行机构上或附近的局部照相机，其与提示具有固定的关系，以在放置镜头之前改善机器人装置的定位误差。 通过将从本地摄像机的有利位置感知的球位置与从全局摄像机图像确定的已知球位置进行比较，本发明可以计算获得的机器人定位误差，然后可以在放置镜头之前对其进行校正。

    Antihypercholesterolemic tri-yne carbonates
    4.
    发明授权
    Antihypercholesterolemic tri-yne carbonates 失效
    抗高胆固醇血糖三烯酸盐

    公开(公告)号：US4780311A

    公开(公告)日：1988-10-25

    申请号：US53973

    申请日：1987-05-26

    申请人： Janet Onishi ,  Michael Greenspan

    发明人： Janet Onishi ,  Michael Greenspan

    IPC分类号： A61K31/335 ,  A61K31/74

    CPC分类号： A61K31/74 ,  A61K31/335

    摘要： The compounds of the following general structural formula (I) ##STR1## wherein R is hydrogen or a pharmaceutically acceptable salt thereof, are .beta.-ketoacyl-coenzyme A thiolase inhibitors and are useful as antihypercholesterolemic agents for the treatment of disease in which the inhibition of cholesterol biosynthesis would be useful, such as arteriosclerosis, hyperlipidemia and familial hypercholesterolemia.

    摘要翻译： 下列通式（I）其中R是氢的化合物或其药学上可接受的盐是β-酮酰基辅酶A硫解酶抑制剂，并且可用作治疗疾病的抗高胆固醇血症药，其中 胆固醇生物合成的抑制将是有用的，例如动脉硬化，高脂血症和家族性高胆固醇血症。

    Method and apparatus for positional error correction in a robotic pool systems using a cue-aligned local camera
    5.
    发明授权
    Method and apparatus for positional error correction in a robotic pool systems using a cue-aligned local camera 失效
    在使用提示对准的本地摄像机的机器人池系统中进行位置误差校正的方法和装置

    公开(公告)号：US07831337B2

    公开(公告)日：2010-11-09

    申请号：US11233375

    申请日：2005-09-23

    申请人： Michael Greenspan

    发明人： Michael Greenspan

    IPC分类号： G05B19/00

    CPC分类号： B25J9/1697 ,  A63D15/00

    摘要： The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot. By comparing the ball locations perceived from the vantage of the local camera with the known ball locations determined from the global camera image, the invention can calculate the acquired robotic positioning error, which can then be corrected for prior to placing the shot.

    摘要翻译： 本发明提供一种用于精确地定位机器人游泳池装置的方法和装置。 该系统包括计算机控制的机器人定位装置，例如龙门架机器人，其可以将提示定位在台球台上并放置一个镜头。 将全景照相机安装在天花板上俯视桌子上，并将获取的图像传送到计算机进行分析，以确定球在坐标参考坐标系中的身份和位置。 计算机还自动确定要击球的位置。 本发明的一个方面是使用安装在机器人末端执行机构上或附近的局部照相机，其与提示具有固定的关系，以在放置镜头之前改善机器人装置的定位误差。 通过将从本地摄像机的有利位置感知的球位置与从全局摄像机图像确定的已知球位置进行比较，本发明可以计算获得的机器人定位误差，然后可以在放置镜头之前对其进行校正。

    Method of recognizing objects within two-dimensional and three-dimensional images
    6.
    发明授权
    Method of recognizing objects within two-dimensional and three-dimensional images 失效
    在二维和三维图像中识别物体的方法

    公开(公告)号：US6026189A

    公开(公告)日：2000-02-15

    申请号：US969778

    申请日：1997-11-13

    申请人： Michael Greenspan

    发明人： Michael Greenspan

    IPC分类号： G06K9/00 ,  G06K9/68 ,  G06K9/62

    CPC分类号： G06K9/6282 ,  G06K9/00201

    摘要： A new method is presented for efficient and reliable object recognition within noisy, cluttered, and occluded range images. An image is captured and quantized into cells having characteristics. A tree data structure is provided wherein each node of the tree is associated with a cell. The tree is traversed according to the characteristics of each associated cell using a best-first algorithm. When a leaf node is reached, potential object poses, types and locations associated with the leaf node are stored. Once sufficient information is stored, each potential recognized object is verified using a more reliable algorithm.

    摘要翻译： 提出了一种新的方法，用于在嘈杂，杂乱和遮挡范围内的图像中高效可靠地进行物体识别。 拍摄图像并将其量化为具有特征的细胞。 提供树数据结构，其中树的每个节点与单元相关联。 使用最佳优先算法，根据每个相关单元的特性遍历树。 当到达叶节点时，存储潜在对象姿势，与叶节点相关联的类型和位置。 一旦存储了足够的信息，则使用更可靠的算法验证每个潜在的识别对象。