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1.发明公开公开(公告)号：US20240160221A1
公开(公告)日：2024-05-16
申请号：US18412459
申请日：2024-01-12
Applicant: BEIJING UNIVERSITY OF TECHNOLOGY
Inventor： Naigong Yu , Yishen Liao , Zongxia Wang , Hejie Yu , Jianjun Yu , Xudong Liu , Ruihua Wang
CPC classification number: G05D1/2435 , G06V20/50 , G05D2105/87
Abstract: A method for constructing episodic memory model based on rat brain visual pathway and entorhinal-hippocampal structure mainly applied to environment cognition and navigation of an intelligent mobile robot to complete tasks of environment cognition map construction and target-oriented navigation is provided. The image information of the environment, the head-direction angle and speed of the robot are collected, and then the head-direction angle and speed of the robot are input into the entorhinal-hippocampal CA3 neural computational model to obtain the robot's precise position. The visual information is input into the computational model of the visual pathway to obtain the scene information in the current vision of the robot. The above two kinds of information are fused and stored in a cognitive node with the topological relationship. Utilizing scenario information to correct the path integration errors during the exploration process of the robot, thereby constructing the episodic cognitive map representing the environment.
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公开(公告)号：US10175662B2
公开(公告)日：2019-01-08
申请号：US15783908
申请日：2017-10-13
Applicant: Beijing University of Technology
Inventor： Naigong Yu , Yunhe Yuan , Xiaojun Jiang , Ti Li , Lue Fang , Ziwei Luo
Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.
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3.发明申请公开(公告)号：US20180046153A1
公开(公告)日：2018-02-15
申请号：US15783908
申请日：2017-10-13
Applicant: Beijing University of Technology
Inventor： Naigong Yu , Yunhe Yuan , Xiaojun Jiang , Ti Li , Lue Fang , Ziwei Luo
CPC classification number: G05B13/04 , B25J9/1671 , G05B13/027 , G05D1/02 , G05D1/0231 , G05D1/027
Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.
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Patent Agency Ranking
公开(公告)号：US20160006329A1
公开(公告)日：2016-01-07
申请号：US14846726
申请日：2015-09-04
Applicant: Beijing University of Technology
Inventor： Xiaogang Ruan , Xiaoqing Zhu , Rongyi Sun , Ruoyan Wei , Naigong Yu , Daoxiong Gong , Guoyu Zuo
CPC classification number: H02K26/00 , H02P21/0003 , H02P21/001
Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.
Abstract translation: 提供了一种基于电磁效应的转矩产生方法和装置。 当采用基于电磁感应原理的电机驱动电枢绕组时，在磁场中产生与电动机驱动方向相反方向的电磁转矩。 同时，与电枢绕组相反的具有相同幅度的反向电磁转矩施加在磁铁组上，并被传递到欠驱动系统，以便为欠驱动系统提供所需的转矩。 有利的是，提供的转矩与速度成正比，控制难度明显降低，可实现两级电磁变速，系统设计简单可靠，结构简洁明了，装置可能 用于各种应用。
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公开(公告)号：US20250103051A1
公开(公告)日：2025-03-27
申请号：US18972786
申请日：2024-12-06
Applicant: BEIJING UNIVERSITY OF TECHNOLOGY
Inventor： Naigong Yu , Yishen Liao , Zongxia Wang , Hejie Yu , Jianjun Yu , Xudong Liu , Ruihua Wang
IPC: G05D1/243 , G05D1/222 , G05D101/15 , G05D105/80 , G06T7/70
Abstract: A method for constructing episodic memory model based on rat brain visual pathway and entorhinal-hippocampal structure mainly applied to environment cognition and navigation of an intelligent mobile robot to complete tasks of environment cognition map construction and target-oriented navigation is provided. The image information of the environment, the head-direction angle and speed of the robot are collected, and then the head-direction angle and speed of the robot are input into the entorhinal-hippocampal CA3 neural computational model to obtain the robot's precise position. The visual information is input into the computational model of the visual pathway to obtain the scene information in the current vision of the robot. The above two kinds of information are fused and stored in a cognitive node with the topological relationship. Utilizing scenario information to correct the path integration errors during the exploration process of the robot, thereby constructing the episodic cognitive map representing the environment.
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公开(公告)号：US09584000B2
公开(公告)日：2017-02-28
申请号：US14846726
申请日：2015-09-04
Applicant: Beijing University of Technology
Inventor： Xiaogang Ruan , Xiaoqing Zhu , Rongyi Sun , Ruoyan Wei , Naigong Yu , Daoxiong Gong , Guoyu Zuo
CPC classification number: H02K26/00 , H02P21/0003 , H02P21/001
Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.
Abstract translation: 提供了一种基于电磁效应的转矩产生方法和装置。 当采用基于电磁感应原理的电机驱动电枢绕组时，在磁场中产生与电动机驱动方向相反方向的电磁转矩。 同时，与电枢绕组相反的具有相同幅度的反向电磁转矩施加在磁铁组上，并被传递到欠驱动系统，以便为欠驱动系统提供所需的转矩。 有利的是，提供的转矩与速度成正比，控制难度明显降低，可实现两级电磁变速，系统设计简单可靠，结构简洁明了，装置可能 用于各种应用。
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公开(公告)号：US09148046B2
公开(公告)日：2015-09-29
申请号：US13689731
申请日：2012-11-29
Applicant: Beijing University of Technology
Inventor： Xiaogang Ruan , Xiaoqing Zhu , Rongyi Sun , Ruoyan Wei , Naigong Yu , Daoxiong Gong , Guoyu Zuo
IPC: H02K26/00
CPC classification number: H02K26/00
Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.
Abstract translation: 提供了一种基于电磁效应的转矩产生方法和装置。 当采用基于电磁感应原理的电机驱动电枢绕组时，在磁场中产生与电动机驱动方向相反方向的电磁转矩。 同时，与电枢绕组相反的具有相同幅度的反向电磁转矩施加在磁铁组上，并被传递到欠驱动系统，以便为欠驱动系统提供所需的转矩。 有利的是，所提供的扭矩与速度成正比，控制难度明显降低，可实现两级电磁变速，系统设计简单可靠，结构简洁明了，装置可能 用于各种应用。
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公开(公告)号：US20140035398A1
公开(公告)日：2014-02-06
申请号：US13689731
申请日：2012-11-29
Applicant: BEIJING UNIVERSITY OF TECHNOLOGY
Inventor： Xiaogang Ruan , Xiaoqing Zhu , Rongyi Sun , Ruoyan Wei , Naigong Yu , Daoxiong Gong , Guoyu Zuo
IPC: H02K26/00
CPC classification number: H02K26/00
Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.
Abstract translation: 提供了一种基于电磁效应的转矩产生方法和装置。 当采用基于电磁感应原理的电机驱动电枢绕组时，在磁场中产生与电动机驱动方向相反方向的电磁转矩。 同时，与电枢绕组相反的具有相同幅度的反向电磁转矩施加在磁铁组上，并被传递到欠驱动系统，以便为欠驱动系统提供所需的转矩。 有利的是，提供的转矩与速度成正比，控制难度明显降低，可实现两级电磁变速，系统设计简单可靠，结构简洁明了，装置可能 用于各种应用。
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