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11. 发明授权

US5674678A Process for controlling cultures of recombinants 失效
标题翻译：控制重组体培养物的方法
公开(公告)号：US5674678A
公开(公告)日：1997-10-07
申请号：US205603
申请日：1988-06-02
申请人： Norio Shimizu , Yoji Odawara , Kiyoshi Fujiwara , Keiko Masuda , Toshiharu Kurihara
发明人： Norio Shimizu , Yoji Odawara , Kiyoshi Fujiwara , Keiko Masuda , Toshiharu Kurihara
IPC分类号： C12N1/38 , C12N9/38 , C12N15/70 , C12P21/02 , C12Q1/68
CPC分类号： C12P21/02 , C12N1/38 , C12N15/70 , C12N9/2471 , C12Y302/01023 , C07K2319/00 , C07K2319/02
摘要： Expression of a desired gene and production of a product from the desired gene can be obtained effectively by cultivating a microorganism containing a hybrid plasmid comprising the desired gene, a vector and a promoter in its cell, and adding an inducer and a nutriment simultaneously to the culture medium at the time when the nutriment originally present in the culture medium is almost consumed.
摘要翻译：可以通过在其细胞中培养含有所需基因，载体和启动子的杂交质粒的微生物，同时向其中添加诱导剂和营养物，从而有效地获得所需基因的表达和产生所需基因的产物培养基中最初存在于培养基中的营养物几乎被消耗时的培养基。

12. 发明授权

US08131449B2 Fuel injection control apparatus and fuel injection control method for internal combustion engine 有权
标题翻译：用于内燃机的燃料喷射控制装置和燃料喷射控制方法
公开(公告)号：US08131449B2
公开(公告)日：2012-03-06
申请号：US12530966
申请日：2008-07-18
申请人： Takashi Koyama , Hisashi Ohki , Kiyoshi Fujiwara , Tomohiro Kaneko , Takahumi Yamada
发明人： Takashi Koyama , Hisashi Ohki , Kiyoshi Fujiwara , Tomohiro Kaneko , Takahumi Yamada
IPC分类号： F02D41/02 , G06F19/00 , F02M51/00
CPC分类号： F02D41/345 , F02D41/401 , F02D2250/04 , Y02T10/44
摘要： A fuel injection valve coupled to a common rail is provided. When fuel injection is carried out, the fuel pressure in the fuel injection valve pulsates. An interval between a pilot injection and a main injection is set so that the main injection is carried out at a zero gradient timing as a timing when the gradient of the fuel pressure in the fuel injection valve after the pilot injection is approximately equal to zero. Owing to a fuel injection control apparatus and a fuel injection control method for an internal combustion engine that perform the above-mentioned control, the fuel injection amount for the subsequent fuel injection following the preceding fuel injection can be reliably held equal to a normal amount.
摘要翻译：提供了一种联接到共轨的燃料喷射阀。当进行燃料喷射时，燃料喷射阀中的燃料压力脉动。引燃喷射和主喷射之间的间隔被设定为使得主喷射在零梯度时刻执行，作为在先导喷射之后的燃料喷射阀中的燃料压力的梯度近似等于零的时刻。由于执行上述控制的燃料喷射控制装置和用于内燃机的燃料喷射控制方法，可以可靠地保持与先前燃料喷射之后的后续燃料喷射的燃料喷射量等于正常量。

13. 发明授权

US07896112B2 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US07896112B2
公开(公告)日：2011-03-01
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），该接触部件设置在远端上的接头（2c）附近，具有设置在其上的手（3）所述机器人（1）的臂（2）与所述机器人（1）所支撑的表面（例如地板表面）接触，并且所述部件位于具有所述接触部件（7））和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

14. 发明申请

US20100116243A1 FUEL INJECTION CONTROL APPARATUS AND FUEL INJECTION CONTROL METHOD FOR INTERNAL COMBUSTION ENGINE 有权
标题翻译：燃油喷射控制装置和燃油喷射控制方法内燃机
公开(公告)号：US20100116243A1
公开(公告)日：2010-05-13
申请号：US12530966
申请日：2008-07-18
申请人： Takashi Koyama , Hisashi Ohki , Kiyoshi Fujiwara , Tomohiro Kaneko , Takahumi Yamada
发明人： Takashi Koyama , Hisashi Ohki , Kiyoshi Fujiwara , Tomohiro Kaneko , Takahumi Yamada
IPC分类号： F02B3/00 , F02M69/46 , F02M51/00
CPC分类号： F02D41/345 , F02D41/401 , F02D2250/04 , Y02T10/44
摘要： A fuel injection valve coupled to a common rail is provided. When fuel injection is carried out, the fuel pressure in the fuel injection valve pulsates. An interval between a pilot injection and a main injection is set so that the main injection is carried out at a zero gradient timing as a timing when the gradient of the fuel pressure in the fuel injection valve after the pilot injection is approximately equal to zero. Owing to a fuel injection control apparatus and a fuel injection control method for an internal combustion engine that perform the above-mentioned control, the fuel injection amount for the subsequent fuel injection following the preceding fuel injection can be reliably held equal to a normal amount.
摘要翻译：提供了一种联接到共轨的燃料喷射阀。当进行燃料喷射时，燃料喷射阀中的燃料压力脉动。引燃喷射和主喷射之间的间隔被设定为使得主喷射在零梯度时刻执行，作为在先导喷射之后的燃料喷射阀中的燃料压力的梯度近似等于零的时刻。由于执行上述控制的燃料喷射控制装置和用于内燃机的燃料喷射控制方法，可以可靠地保持与先前燃料喷射之后的后续燃料喷射的燃料喷射量等于正常量。

15. 发明申请

US20050240308A1 Method and device for controlling walking of legged robot 审中-公开
标题翻译：用于控制腿式机器人走路的方法和装置
公开(公告)号：US20050240308A1
公开(公告)日：2005-10-27
申请号：US10511608
申请日：2003-05-07
申请人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： B25J13/00 , B25J5/00 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention provides a walking control method and a walking control apparatus for achieving stable attitude control of a legged robot. In the walking control of the legged robot, basically, a foot-sole coordinate system based on sole positions and having at least a first coordinate axis in a direction connecting soles of both legs and a second coordinate axis perpendicular to the first coordinate axis in a horizontal plane is used as a control coordinate system, and attitude control is performed with different control characteristics for the first and second coordinate axes. Accordingly, the legged robot includes sole position sensors for detecting the sole positions of ground-contacting legs, ground contact sensors for detecting the state of the ground-contacting legs or a motion controller for generating the state of the ground-contacting legs, a control device which performs the walking control using a coordinate system based on the direction connecting the soles of the legs as a control coordinate system in accordance with the detected sole positions and the state of the ground-contacting legs, and leg actuators controlled by the control device.
摘要翻译：本发明提供了一种用于实现腿式机器人的稳定姿态控制的步行控制方法和步行控制装置。在腿式机器人的步行控制中，基本上是基于鞋底位置的脚底坐标系，并且在与第一坐标轴垂直的方向上具有至少第一坐标轴和第二坐标轴的坐标轴水平面用作控制坐标系，并且对于第一和第二坐标轴执行具有不同控制特性的姿态控制。因此，腿式机器人包括用于检测地面接触腿的唯一位置的底部位置传感器，用于检测地面接触腿的状态的接地接触传感器或用于产生接地腿的状态的运动控制器，装置，其使用基于根据检测到的底部位置和接地腿的状态的腿的腿部的方向作为控制坐标系的坐标系执行步行控制，以及由控制装置控制的腿致动器。

16. 发明申请

US20080025825A1 Container Inspection/Cargo-Handling Method and Container Inspection/Cargo-Handling System 有权
标题翻译：集装箱检验/货物处理方法和集装箱检验/货物处理系统
公开(公告)号：US20080025825A1
公开(公告)日：2008-01-31
申请号：US10590303
申请日：2005-03-11
申请人： Kiyoshi Fujiwara
发明人： Kiyoshi Fujiwara
IPC分类号： B65G63/00 , G01N23/02
CPC分类号： B65G63/004 , G01V5/0008
摘要： To provide a container inspection/cargo-handling system capable of efficiently inspecting import/export containers.In order to solve the aforesaid problem, a container inspection/cargo-handling system of the present invention includes an automated guided vehicle (AGV) 18 that travels in circulation in a quay area. Further, on a circulation travel line of the AGV 18, provided are a quay crane 16 loading/unloading a container 14 to/from the AGV 18, a radiation inspection device 20 inspecting a cargo in the container 14 loaded on the AGV 18, and a container transfer means 22 for transferring the container 14 between the AGV 18 and a manned transport vehicle (container transport vehicle) 24.
摘要翻译：提供能够有效检查进出口集装箱的集装箱检验/货物处理系统。为了解决上述问题，本发明的集装箱检查/货物处理系统包括在码头区域内循环行进的自动引导车辆（AGV）18。此外，在AGV18的循环行驶路线上设置有向AGV 18装载/卸载集装箱14的码头起重机16，检查装载在AGV 18上的集装箱14中的货物的放射线检查装置20，以及用于在AGV 18和载人运输车辆（集装箱运输车辆）24之间转移集装箱14的集装箱转运装置22。

17. 发明申请

US20060138988A1 Method and device for accurately detecting attitude of movable body 审中-公开
标题翻译：准确检测移动体姿态的方法和装置
公开(公告)号：US20060138988A1
公开(公告)日：2006-06-29
申请号：US10521773
申请日：2003-07-18
申请人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： G05B11/01
CPC分类号： B62D57/032 , G01C21/16 , G05D1/0891
摘要： By providing a moving body with a high-accuracy attitude detection mechanism including a pair of a first rate gyroscope for detecting the attitude of the moving body and a second rate gyroscope which obtains an output inverted from that of the first rate gyroscope and the variations in the outputs of the rate gyroscopes are mutually compensated for, thereby accurately detecting the attitude information of the moving body.
摘要翻译：通过提供具有高精度姿态检测机构的移动体，该机构包括一对用于检测移动体的姿态的第一速率陀螺仪和获得与第一速率陀螺仪的输出相反的输出的第二速率陀螺仪，速率陀螺仪的输出被相互补偿，从而准确地检测移动体的姿态信息。

18. 发明申请

US20060011391A1 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US20060011391A1
公开(公告)日：2006-01-19
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），其设置在远端上的接头（2c）附近的部分中，具有设置在其上的手（3）（1）的臂（2）与支撑机器人（1）的表面（例如地板表面）接触并且位于具有接触部件的部件之间的部件（ 7）和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

19. 发明申请

US20050267630A1 Walking gait producing device for walking robot 审中-公开
标题翻译：步行机器人行走步态生产装置
公开(公告)号：US20050267630A1
公开(公告)日：2005-12-01
申请号：US10529252
申请日：2003-09-17
申请人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
发明人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
IPC分类号： B25J5/00 , B62D57/032 , G05D1/02 , G06F19/00
CPC分类号： B62D57/032
摘要： An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.
摘要翻译：本发明的目的是提供一种步态模式生成装置，通过该步态模式生成装置，可以容易地实时地生成具有易于掉落的结构的人形双足行走机器人的机器人的步态图案。该装置使用基于该时刻的重心的运动状态的反馈的预览控制方法以及将来的ZMP轨迹的前馈直到几秒钟来一次计算重心的驱动量那一刻。接下来，驱动机器人以获得获得的重心轨迹。因此，获得了步行运动。

20. 发明授权

US06362802B1 Method and apparatus for acquiring an image for inspection of a flat panel display 失效
标题翻译：用于获取用于平板显示器检查的图像的方法和装置
公开(公告)号：US06362802B1
公开(公告)日：2002-03-26
申请号：US09326009
申请日：1999-06-04
申请人： Kiyoshi Fujiwara , Masayoshi Ichikawa
发明人： Kiyoshi Fujiwara , Masayoshi Ichikawa
IPC分类号： G09G536
CPC分类号： G06T1/0007
摘要： There are provided a method and an apparatus for acquiring an image for inspection of a flat panel display which can be advantageously used in inspecting any pixel defect of a flat panel display with high accuracy. An image of light and darkness of the flat panel display picked up by a solid state image pickup element is converted into digital image data, and any moiré component is extracted from the image data to detect a period of the moiré component. Pixel values of data collected at the period of moiré from a data series in X-axis direction or Y-axis direction of the image data are connected to find a plurality of smoothed curves from which defect components have been eliminated. Differences between pixel values positioned on that plurality of smoothed curves and the original image data are found to obtain defect component image data, and an average of the plurality of smoothed curves is found to obtain smoothed image data containing no moiré. This smoothed image data and the defect component image data are added and the addition result is stored in an image memory as image data for inspection.
摘要翻译：提供了一种用于获取用于检查平板显示器的图像的方法和装置，其可以有利地用于以高精度检查平板显示器的任何像素缺陷。将由固态图像拾取元件拾取的平板显示器的亮度和暗度的图像转换成数字图像数据，并且从图像数据中提取任何莫尔成分以检测莫尔成分的周期。连接从图像数据的X轴方向或Y轴方向的数据系列的波纹期间收集的数据的像素值，找到多个平滑曲线，从而消除了缺陷成分。发现位于该多个平滑曲线上的像素值和原始图像数据之间的差异获得缺陷分量图像数据，并且发现多个平滑曲线的平均值获得不包含莫尔条纹的平滑图像数据。将该平滑图像数据和缺陷分量图像数据相加，并将相加结果作为图像数据存储在图像存储器中进行检查。

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