公开(公告)号：US09156159B2

公开(公告)日：2015-10-13

申请号：US13415605

申请日：2012-03-08

申请人： Jessica Hodgins ,  Katsu Yamane ,  Yu Zheng

发明人： Jessica Hodgins ,  Katsu Yamane ,  Yu Zheng

IPC分类号： G06F19/00 ,  B25J9/00 ,  B62D57/032 ,  B62D57/02 ,  G05B15/00 ,  B25J13/08

CPC分类号： B25J9/00 ,  B25J13/085 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032 ,  G05B15/00

摘要： Techniques are disclosed for optimizing and maintaining cyclic biped locomotion of a robot on an object. The approach includes simulating trajectories of the robot in contact with the object. During each trajectory, the robot maintains balance on the object, while using the object for locomotion. The approach further includes determining, based on the simulated trajectories, an initial state of a cyclic gait of the robot such that the simulated trajectory of the robot starting from the initial state substantially returns to the initial state at an end of one cycle of the cyclic gait. In addition, the approach includes sending joint angles and joint velocities of the initial state to a set of joint controllers of the robot to cause a leg of the robot to achieve the initial state so the robot moves through one or more cycles of the cyclic gait.

摘要翻译： 公开了用于优化和维持机器人在物体上的循环双足运动的技术。 该方法包括模拟与物体接触的机器人的轨迹。 在每个轨迹期间，机器人在使用对象进行移动时，保持物体上的平衡。 该方法还包括基于模拟轨迹确定机器人的循环步态的初始状态，使得从初始状态开始的机器人的模拟轨迹在循环的一个循环的结尾基本上返回到初始状态 步态。 此外，该方法包括将初始状态的关节角度和关节速度发送到机器人的一组联合控制器，以使机器人的腿部达到初始状态，使得机器人通过循环步态的一个或多个循环 。

公开(公告)号：US09261376B2

公开(公告)日：2016-02-16

申请号：US12712053

申请日：2010-02-24

申请人： Yu Zheng ,  Yin Lou ,  Chengyang Zhang ,  Xing Xie

发明人： Yu Zheng ,  Yin Lou ,  Chengyang Zhang ,  Xing Xie

IPC分类号： G01C21/36 ,  G01S19/42 ,  G06F17/30 ,  G01C21/34

CPC分类号： G01C21/3484 ,  G01C21/10 ,  G01C21/16 ,  G01S19/42

摘要： Techniques for providing a route based on route-oriented vehicle trajectories are described. This disclosure describes receiving GPS logs and extracting route-oriented vehicle trajectory content from the GPS log data to pertain to a single trip. Next, the process maps each route-oriented vehicle trajectory to a corresponding road segment to construct a landmark graph. A landmark is a road segment frequently visited by route-oriented vehicles. The process includes receiving a user query with a starting point and a destination point; searching the landmark graph for a sequence of landmarks with corresponding transition times and a least amount of travel time. Then the process identifies and connects sets of road segments between each pair of consecutive landmarks, and displays a route to a user with a nearest landmark to the starting point, other landmarks along the route, and another nearest landmark to the destination point.

摘要翻译： 描述了基于路线导向的车辆轨迹提供路线的技术。 本公开描述了从GPS日志数据接收GPS日志并提取面向路线的车辆轨迹内容以涉及单次旅行。 接下来，该过程将每个面向路线的车辆轨迹映射到相应的路段以构建地标图。 地标是路线导向车辆经常访问的路段。 该过程包括以起始点和目的地点接收用户查询; 搜索具有相应过渡时间和最少旅行时间量的地标序列的地标图。 然后，该过程识别并连接每对连续地标之间的道路段，并且显示到具有到起点的最近地标的用户的路线，沿着路线的其他地标以及到达目的地点的另一最近地标的路线。

公开(公告)号：US20150051734A1

公开(公告)日：2015-02-19

申请号：US14067603

申请日：2013-10-30

申请人： Yu Zheng ,  Katsu Yumane

发明人： Yu Zheng ,  Katsu Yumane

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B25J9/1633 ,  B62D57/032 ,  Y10S901/01

摘要： A controller for floating-base humanoid robots that can track motion capture data while maintaining balance. Briefly, the controller includes a proportional-derivative (PD) controller that is adapted to compute the desired acceleration to track a given reference trajectory at every degree-of-freedom (DOF) of the robot including the six unactuated ones of the floating base. Second, the controller includes a component (joint torque optimization module) that computes the optimal joint torques and contact forces to realize the desired accelerations given by the first component (i.e., the PD controller). The joint torque optimization module performs this computation considering the full-body dynamics of the robot and the constraints on contact forces. The desired accelerations may not be feasible for the robot due to limits in normal contact forces and friction (e.g., the robot sometimes cannot exactly copy or perform the modeled human motion defined by motion capture data).

摘要翻译： 用于浮动式人形机器人的控制器，可以跟踪运动捕捉数据同时保持平衡。 简而言之，控制器包括比例微分（PD）控制器，其适于计算期望的加速度以跟踪包括浮动基座中的六个未致动的机器人的机器人的每个自由度（DOF）处的给定参考轨迹。 第二，控制器包括一个组件（关节扭矩优化模块），该组件计算最佳接头扭矩和接触力，以实现由第一部件（即PD控制器）给出的所需加速度。 考虑到机器人的全身动力学和接触力的约束，关节扭矩优化模块执行该计算。 由于正常接触力和摩擦力的限制（例如，机器人有时不能精确地复制或执行由运动捕捉数据定义的建模的人体运动），对于机器人而言，期望的加速度可能是不可行的。

公开(公告)号：US08551734B2

公开(公告)日：2013-10-08

申请号：US13415504

申请日：2012-03-08

申请人： Yu Zheng ,  Richard J. Roberts

发明人： Yu Zheng ,  Richard J. Roberts

IPC分类号： C12P21/06 ,  C12Q1/68 ,  G01N33/573 ,  C12P19/34 ,  C12N9/00

CPC分类号： C12N15/1058 ,  C12N9/22 ,  C12N15/1075

摘要： Compositions and methods are provided for selection and enrichment of a target gene from a library of polynucleotide sequences such as might be formed from a genome or by random mutagenesis of a genetic sequence. The selection and enrichment occurs in aqueous droplets formed in an emulsion that compartmentalize individual polynucleotides from the library or a plurality of polynucleotides that may include polynucleotides not derived from the library, transcription and translation reagents and optionally additional chemical and enzyme reagents. The selection and enrichment method utilizes a polynucleotide adaptor which when ligated to the polynucleotide fragment enables amplification to occur in the presence of an adaptor specific primer.

摘要翻译： 提供了组合物和方法用于从多基因序列文库中选择和富集靶基因，所述多核苷酸序列可能由基因组形成，或通过遗传序列的随机诱变。 选择和富集发生在形成于乳剂中的水性液滴中，其从文库分离单个多核苷酸或多个多核苷酸，其可以包括不衍生自文库，转录和翻译试剂以及任选的其它化学和酶试剂的多核苷酸。 选择和富集方法利用多核苷酸衔接子，当连接到多核苷酸片段时，可以在衔接子特异性引物的存在下进行扩增。

公开(公告)号：US08526969B2

公开(公告)日：2013-09-03

申请号：US12480511

申请日：2009-06-08

申请人： Yu Zheng ,  Sharad Agarwal ,  Alex Hehmeyer

发明人： Yu Zheng ,  Sharad Agarwal ,  Alex Hehmeyer

IPC分类号： H04W4/02 ,  H04M3/42

CPC分类号： H04W4/02 ,  H04L67/18 ,  H04L67/24 ,  H04L67/26 ,  H04M3/4931 ,  H04M2242/15 ,  H04W4/023 ,  H04W4/029

摘要： Attributes including presence and organization information for contacts of a subscriber are used in determining a subset of contacts matching a predefined criterion. Determined subset of contacts is sent as an alert to notify the subscriber to the subsets' nearby proximity.

摘要翻译： 使用包括用户联系人的存在和组织信息的属性来确定与预定标准相匹配的联系人的子集。 确定的联系人的子集作为警报发送，以通知用户附近的子集。

公开(公告)号：US20130047445A1

公开(公告)日：2013-02-28

申请号：US13199432

申请日：2011-08-29

申请人： Yu Zheng

发明人： Yu Zheng

IPC分类号： A47G21/04

CPC分类号： A47G21/04

摘要： A spoon has a bowled area having a base and a surrounding edge extending around the base, and an elongated handle attached to the bowled area, with the handle having a base. A plurality of holes are provided in the base of the handle adjacent the bowled area.

摘要翻译： 勺具有具有基部和围绕基部延伸的周边边缘的保龄球区域，以及连接到保龄球区域的细长手柄，手柄具有底座。 多个孔设置在与保龄球区相邻的把手的基部中。

公开(公告)号：US20120278360A1

公开(公告)日：2012-11-01

申请号：US13549340

申请日：2012-07-13

申请人： Jiang Qian ,  Vincent Zhou ,  Bo Zheng ,  Yu Zheng

发明人： Jiang Qian ,  Vincent Zhou ,  Bo Zheng ,  Yu Zheng

IPC分类号： G06F17/30

CPC分类号： G06F17/2745

摘要： Short POI titles are generated by removing unnecessary administrative area prefixes from existing POI titles and replacing necessary administrative area prefixes with shorter aliases. Administrative area prefixes are identified and analyzed to determine whether they are necessary. The analysis includes determining (1) whether the remainders with the prefixes excluded include a common suffix as a prefix, and (2) whether the remainders are unique in an applicable metropolis area. If a remainder does not include as a prefix a common suffix and is unique in the applicable metropolis area, the corresponding prefix is determined unnecessary and removed from the existing POI title to generate a short POI title. Otherwise, the corresponding prefix is determined necessary and replaced with a shorter alias to generate a short POI title.

摘要翻译： 通过从现有POI标题中删除不必要的管理区域前缀，并用较短的别名替换必要的管理区域前缀来生成简短的POI标题。 对行政区域前缀进行识别和分析，以确定它们是否必要。 分析包括确定（1）排除前缀的余数是否包括作为前缀的公共后缀，以及（2）在适用的大都会区域中剩余部分是否是唯一的。 如果余数不包括作为前缀的公共后缀，并且在适用的大都市区域中是唯一的，则相应的前缀被确定为不必要的并且从现有POI标题中移除以生成短的POI标题。 否则，相应的前缀被确定为必需，并用较短的别名替换以生成短的POI标题。

公开(公告)号：US20120086791A1

公开(公告)日：2012-04-12

申请号：US12902007

申请日：2010-10-11

申请人： Yu Zheng ,  Dominic Massetti ,  Dale Edmondson ,  Robbert Emery

发明人： Yu Zheng ,  Dominic Massetti ,  Dale Edmondson ,  Robbert Emery

IPC分类号： H04N7/18

CPC分类号： A61B1/3137 ,  A61B1/00025 ,  A61B1/05 ,  A61B5/0071

摘要： An endoscope system of one aspect includes a probe including a CMOS image sensor or sensors, and a conductor or conductors for transmitting an image signal outward from the CMOS image sensor or sensors. The system also includes a connector system including one or more integrated circuits and/or connectors, receiving a signal from the CMOS image sensor or sensors and processing that signal. The system also includes a sensor power supply for the CMOS image sensor or sensors, and a remainder power supply for the remainder of the endoscope system. Other endoscope systems, angiographic systems, devices, and methods associated therewith are also disclosed.

摘要翻译： 一个方面的内窥镜系统包括具有CMOS图像传感器或传感器的探针，以及用于从CMOS图像传感器或传感器向外传输图像信号的导体或导体。 该系统还包括连接器系统，其包括一个或多个集成电路和/或连接器，从CMOS图像传感器或传感器接收信号并处理该信号。 该系统还包括用于CMOS图像传感器或传感器的传感器电源，以及用于内窥镜系统的其余部分的剩余电源。 还公开了其它内窥镜系统，血管造影系统，装置和与之相关的方法。

公开(公告)号：US08015144B2

公开(公告)日：2011-09-06

申请号：US12037305

申请日：2008-02-26

申请人： Yu Zheng ,  Longhao Wang ,  Like Liu ,  Xing Xie

发明人： Yu Zheng ,  Longhao Wang ,  Like Liu ,  Xing Xie

IPC分类号： G06F9/44 ,  G06N7/02 ,  G06N7/06

CPC分类号： G01C21/3423 ,  G01C21/20 ,  G06N99/005 ,  G08G1/0112

摘要： Described is a technology by which raw GPS data is processed into segments of a trip, with a predicted mode of transportation (e.g., walking, car, bus, bicycling) determined for each segment. The determined transportation modes may be used to tag the GPS data with transportation mode information, and/or dynamically used. Segments are first characterized as walk segments or non-walk segments based on velocity and/or acceleration. Features corresponding to each of those walk segments or non-walk segments are extracted, and analyzed with an inference model to determine probabilities for the possible modes of transportation for each segment. Post-processing may be used to modify the probabilities based on transitioning considerations with respect to the transportation mode of an adjacent segment. The most probable transportation mode for each segment is selected.

摘要翻译： 描述了一种将原始GPS数据处理成行程段的技术，其中为每个段确定了预测的运输方式（例如步行，汽车，公交车，骑自行车）。 确定的运输模式可以用于使用运输模式信息来标记GPS数据，和/或动态地使用。 首先基于速度和/或加速度将细分特征描述为步行段或非步行段。 提取对应于每个步行段或非步行段的特征，并用推理模型分析以确定每个段的可能运输模式的概率。 可以使用后处理来基于相对于相邻段的传送模式的转换考虑来修改概率。 选择每个段最可能的运输模式。

公开(公告)号：US20110208426A1

公开(公告)日：2011-08-25

申请号：US12712857

申请日：2010-02-25

申请人： Yu Zheng ,  Yin Lou ,  Chengyang Zhang ,  Xing Xie

发明人： Yu Zheng ,  Yin Lou ,  Chengyang Zhang ,  Xing Xie

IPC分类号： G01C21/26

CPC分类号： G01C21/30

摘要： This disclosure describes a map-matching module that supports a Global Positioning System (GPS) and provides a user with a best match trajectory corresponding to GPS sampling points taken at a low sampling rate. The best match trajectory is based upon a spatial-temporal analysis.

摘要翻译： 本公开描述了一种支持全球定位系统（GPS）的地图匹配模块，并向用户提供与以低采样率采集的GPS采样点相对应的最佳匹配轨迹。 最佳匹配轨迹是基于空间 - 时间分析。