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21. 发明授权

US07860611B2 Control device for legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US07860611B2
公开(公告)日：2010-12-28
申请号：US12603116
申请日：2009-10-21
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00 , B62D57/032 , B62D57/00 , B62D57/02 , B62D57/024 , B25J13/00 , B25J5/00 , G05B13/02
CPC分类号： B62D57/032
摘要： On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.
摘要翻译：基于与机器人1的纵轴或地面法线方向的姿势有关的期望状态量与机器人1的实际状态量之间的差异以及限制对象量的容许范围即，施加到机器人1的地板反射力矩或地板反射力矩的分量的垂直分量，期望运动的瞬时值和期望的地面反作用力被确定使得在动态模型上的平衡反作用力平衡与期望的运动之间的差异与期望的地面反作用力的地板反力力矩之间的差值近似于上述差为零，同时具有与所需的地面反作用力，落在容许范围内。

22. 发明授权

US07670504B2 Nematic liquid crystal composition and liquid crystal display device using the same 有权
标题翻译：向列液晶组合物和使用其的液晶显示装置
公开(公告)号：US07670504B2
公开(公告)日：2010-03-02
申请号：US11793132
申请日：2005-12-14
申请人： Shotaro Kawakami , Takashi Matsumoto , Tetsuo Kusumoto , Yoshitaka Saito , Yutaka Nagashima , Makoto Negishi , Masayuki Iwakubo
发明人： Shotaro Kawakami , Takashi Matsumoto , Tetsuo Kusumoto , Yoshitaka Saito , Yutaka Nagashima , Makoto Negishi , Masayuki Iwakubo
IPC分类号： C09K19/00 , C09K19/06 , C09K19/52
CPC分类号： C09K19/42 , C09K19/3066 , C09K2019/0407 , Y10T428/10
摘要： The present invention provides a liquid crystal composition having a negative dielectric anisotropy whose absolute value is large, and a low viscosity, and also provides a VA type liquid crystal element using the same.Disclosed is a liquid crystal composition containing a compound represented by the general formula (I) and an alkenyl compound represented by the general formula (II): By combining the liquid compounds according to the present invention, a liquid crystal composition having a low viscosity and a negative dielectric anisotropy could be obtained while nearly maintaining physical properties such as refractive anisotropy. By using the composition, a liquid crystal element having excellent reliability, capable of maintaining a high voltage retention until a high temperature region, is provided, and the display is very applicable as a VA type, ECB type, or IPS type liquid crystal display, and is particularly effective for speeding up response without thinning cell gaps.
摘要翻译：本发明提供一种具有绝对值大且低粘度的负介电各向异性的液晶组合物，并且还提供使用该液晶组合物的VA型液晶元件。公开了含有通式（I）表示的化合物和通式（II）表示的烯基化合物的液晶组合物：通过将本发明的液体化合物与低粘度的液晶组合物和在几乎保持诸如折射各向异性的物理性质的同时，可以获得负的介电各向异性。通过使用该组合物，提供了具有优异的可靠性，能够保持高电压保持直到高温区域的液晶元件，并且显示器非常适用于VA型，ECB型或IPS型液晶显示器，并且对于加快响应特别有效，而不会使单元间隙变薄。

23. 发明授权

US07528375B2 Radiation detection circuit and radiological imaging apparatus using the same 有权
标题翻译：辐射检测电路及使用其的放射成像装置
公开(公告)号：US07528375B2
公开(公告)日：2009-05-05
申请号：US11478728
申请日：2006-07-03
申请人： Takashi Matsumoto
发明人： Takashi Matsumoto
IPC分类号： G01T1/24
CPC分类号： G01T1/2928
摘要： There is a need for high-precision detection timing in a radiological imaging apparatus using a semiconductor detector so as to decrease time variations against a noise and easily correct process variations. A radiation detection circuit includes: a semiconductor detector; charge accumulation means connected to the semiconductor detector; a circuit to discriminate timing of a signal generated from the charge accumulation means based on a specified threshold value; a shaper 1 to limit a band from the charge accumulation means using a first time constant; a shaper 2 to limit a band from the charge accumulation means using a second time constant; a circuit 1 to hold an analog peak value 1 for the shaper 1; and a circuit 2 to hold an analog peak value 2 for the shaper 2. The radiation detection circuit performs a signal process to generate timing correction data based on the analog peak values 1 and 2 and correct timing data from the timing discriminator circuit.
摘要翻译：在使用半导体检测器的放射成像装置中需要高精度的检测定时，以便减少对噪声的时间变化并容易校正过程变化。辐射检测电路包括：半导体检测器; 连接到半导体检测器的电荷累积装置; 基于指定的阈值来鉴别从电荷累积装置产生的信号的定时的电路; 使用第一时间常数从电荷累积装置限制频带的整形器1; 使用第二时间常数限制来自电荷累积装置的频带的整形器2; 保持成形器1的模拟峰值1的电路1; 以及用于保持成形器2的模拟峰值2的电路2.辐射检测电路执行信号处理，以基于模拟峰值1和2产生定时校正数据，并校正来自定时鉴别器电路的定时数据。

24. 发明授权

US07518112B2 Radiation detection circuit 有权
标题翻译：辐射检测电路
公开(公告)号：US07518112B2
公开(公告)日：2009-04-14
申请号：US11656478
申请日：2007-01-23
申请人： Takashi Matsumoto , Satoshi Hanazawa , Toshihiko Moriwaki , Masakazu Ishibashi , Naruaki Kiriki
发明人： Takashi Matsumoto , Satoshi Hanazawa , Toshihiko Moriwaki , Masakazu Ishibashi , Naruaki Kiriki
IPC分类号： G01J5/06
CPC分类号： G01T1/247 , H01L2224/05554 , H01L2224/48091 , H01L2224/49175 , H01L2924/00014
摘要： A radiation detection circuit having a multi-channel input used for radiation measurement and capable of canceling cross-talk noise generated from a logic circuit for controlling a channel and enabling low noise radiation measurement easily and precisely. The radiation detection circuit also generates an inverted signal for each of input/output signals needed for controlling its logic and cancels a noise charge generated by coupled capacity between a bonding wire (analog input side in IC package) for connecting its output to another radiation detection circuit and a bonding wire of each of input/output signals of the logic control circuit by generating an inverted noise charge with coupled capacity between the inverted signal and its output when in logic controlling, thereby suppressing the cross-talk noise generated by each of its input/output signals.
摘要翻译：一种辐射检测电路，具有用于辐射测量的多通道输入，并且能够抵消从用于控制通道的逻辑电路产生的串扰噪声并且能够容易且精确地实现低噪声辐射测量。辐射检测电路还为控制其逻辑所需的每个输入/输出信号产生反相信号，并且消除由接合线（IC封装中的模拟输入端）之间的耦合容量产生的噪声电荷，以将其输出连接到另一辐射检测电路和逻辑控制电路的每个输入/输出信号的接合线，通过在逻辑控制中产生反相信号与其输出之间的耦合容量的反相噪声电荷，从而抑制由其中的每一个产生的串扰噪声输入/输出信号。

25. 发明授权

US07487011B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07487011B2
公开(公告)日：2009-02-03
申请号：US10499936
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/04 , G05B19/18 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： An allowable ranges of a horizontal component of the translation floor reaction or a floor-surface-parallel component of the translation floor reaction force of a legged mobile robot 1 or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot 1 (hereinafter referred to as a friction force component) is set, and a provisional movement of the robot 1 is determined so as to satisfy a predetermined dynamical equilibrium condition. When the friction force component determined by this provisional movement departs from the allowable range, a rate of change of an angular momentum around the center of gravity of the robot 1 is changed from the provisional movement so as to satisfy the dynamical equilibrium condition while limiting the friction force component within the allowable range to thereby determine a movement of a desired gait. Consequently, not only walking of the robot 1 but also running thereof can be performed properly, and a gait that does not cause slippage is generated.
摘要翻译：平移台面反应的水平分量的允许范围或有腿可移动机器人1的平移平面反作用力的地面平行部分或总重心加速度或地板表面的水平分量设定机器人1的全重心加速度的平行分量（以下称为摩擦力分量），并且确定机器人1的临时运动以满足预定的动态平衡条件。当由该临时移动确定的摩擦力分量偏离允许范围时，围绕机器人1的重心的角动量的变化率从临时运动改变以满足动态平衡条件，同时限制摩擦力分量在允许范围内，从而确定期望步态的移动。因此，不仅可以适当地进行机器人1的行走，还可以进行行走，并且产生不产生滑动的步态。

26. 发明授权

US07479004B2 Die and die device 失效
标题翻译：模具和模具设备
公开(公告)号：US07479004B2
公开(公告)日：2009-01-20
申请号：US10517318
申请日：2003-06-17
申请人： Kinshiro Naito , Masayuki Shimizu , Shigeru Endo , Takashi Matsumoto , Hiroshi Nakai , Hiroyuki Kobayashi
发明人： Kinshiro Naito , Masayuki Shimizu , Shigeru Endo , Takashi Matsumoto , Hiroshi Nakai , Hiroyuki Kobayashi
IPC分类号： B26D7/18
CPC分类号： B26D7/1854 , B21D28/34 , B21D45/003 , B26F1/40 , B26F1/44 , Y10T83/0443 , Y10T83/0453 , Y10T83/2066 , Y10T83/2068 , Y10T83/9416 , Y10T83/9425 , Y10T83/9437
摘要： A die body includes a die hole for punching a work. A core, including a discharge hole, which is in communication with the die hole, is provided in the die body. The core is provided with a plurality of fluid injection ports through which fluid is injected downward of the discharge hole. The die body is provided with inflow ports through which compressed fluid flows into the fluid injection ports. The core is made of resin. The discharge hole is tapered toward its upper side. An outer peripheral surface of the die body is provided with a peripheral groove which is in communication with the inflow ports.
摘要翻译：模具包括用于冲压工件的模孔。在模具体中设置有与模孔相连通的排出孔的芯体。芯部设置有多个流体注入口，流体通过该流体注入口向排放孔的下方注入。模具体设置有流入端口，压缩流体通过该流入口流入流体注入口。核心由树脂制成。排出孔朝向其上侧逐渐变细。模体的外周面设置有与流入口连通的周向槽。

27. 发明申请

US20080147237A1 Gait Generator for Mobile Robot 有权
标题翻译：移动机器人步态发生器
公开(公告)号：US20080147237A1
公开(公告)日：2008-06-19
申请号：US10597653
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/18 , B25J5/00 , B25J13/04
CPC分类号： B62D57/032
摘要： When gait parameters for specifying a gait to be generated of a mobile robot (1) are determined, the values of the priority parameters of the gait parameters are updated from the values of the priority gait parameters of predetermined base gait parameters such that the priority parameters approach and reach the original required values step by step. For every update, out of non-priority parameters other than the priority ones, the parameters to be sought are determined by seeking so that the parameters may satisfy the gait boundary condition on the dynamic model of the robot (1). Thus, the new gait parameters including the determined parameters and the updated priority parameters are determined. Lastly, the gate of the mobile robot (1) is generated using dynamic model and the new gait parameters determined when the priority parameters are made to agree with the requested value.
摘要翻译：当确定用于指定要移动机器人（1）生成的步态的步态参数时，根据预定基准步态参数的优先步态参数的值更新步态参数的优先级参数的值，使得优先级参数并逐步达到原始要求的值。对于每个更新，除了优先级以外的非优先级参数，通过寻求来确定要寻求的参数，使得参数可以满足机器人（1）的动态模型上的步态边界条件。因此，确定包括确定的参数和更新的优先级参数的新步态参数。最后，使用动态模型生成移动机器人（1）的门，并且当使优先级参数与所请求的值一致时确定新的步态参数。

28. 发明申请

US20080111530A1 CONTROL CIRCUIT OF CURRENT MODE DC-DC CONVERTER AND CONTROL METHOD OF CURRENT MODE DC-DC CONVERTER 有权
标题翻译：电流模式DC-DC转换器的控制电路和电流模式DC-DC转换器的控制方法
公开(公告)号：US20080111530A1
公开(公告)日：2008-05-15
申请号：US11936933
申请日：2007-11-08
申请人： Morihito Hasegawa , Takashi Matsumoto , Ryuta Nagai
发明人： Morihito Hasegawa , Takashi Matsumoto , Ryuta Nagai
IPC分类号： G05F1/10
CPC分类号： H02M3/156 , H02M2001/0009
摘要： To provide a control circuit of a current mode DC-DC converter, a current mode DC-DC converter and a control method thereof having excellent high-speed responsiveness with respect to fluctuations in output voltage. The control circuit of the current mode DC-DC converter serves as a DC-DC converter 1 that controls a peak value of a coil current and comprises a window comparator that detects whether an output voltage VOUT is within a predetermined voltage range including a target voltage, and a peak current setting unit that sets a peak current setting value of a coil current to a lower limit value or an upper limit value in response to a high or low voltage level of the output voltage VOUT, in the case that the output voltage VOUT is not within the predetermined voltage range including the target voltage.
摘要翻译：提供电流模式DC-DC转换器的控制电路，电流模式DC-DC转换器及其控制方法，其具有相对于输出电压波动的优异的高速响应性。电流模式DC-DC转换器的控制电路充当DC-DC转换器1，其控制线圈电流的峰值，并且包括窗口比较器，其检测输出电压VOUT是否在包括目标电压的预定电压范围内以及峰值电流设定单元，其在输出电压的情况下，将线圈电流的峰值电流设定值设定为响应于输出电压VOUT的高或低电压电平的下限值或上限值 VOUT不在包括目标电压的预定电压范围内。

29. 发明申请

US20080086729A1 DATA PROCESSOR 有权
标题翻译：数据处理器
公开(公告)号：US20080086729A1
公开(公告)日：2008-04-10
申请号：US11869565
申请日：2007-10-09
申请人： Yuki Kondoh , Takashi Matsumoto , Keisuke Toyama , Toru Nojiri
发明人： Yuki Kondoh , Takashi Matsumoto , Keisuke Toyama , Toru Nojiri
IPC分类号： G06F9/455 , G06F9/50
CPC分类号： G06F9/5077 , G06F9/45558 , G06F2009/45583
摘要： A data processor includes: a central processing unit (CPU), in which a plurality of virtual machines (101), each running an application program under controls of different operating systems, and a virtual machine manager (190) for controlling the plurality of virtual machines are selectively arranged according to information set in mode registers (140, 150, 151); and a resource access management module (110) for managing access to hardware resource available for the plurality of virtual machines. The resource access management module accepts, as inputs, the information set in the mode registers and access control information of the central processing unit to the hardware resource, compares the information thus input with information set in a control register, and controls whether or not to permit access to the hardware resource in response to the access control information. As a result, redesign involved in changes in system specifications can be reduced, and a malfunction owing to resource contention can be prevented. The invention contributes to increase of security.
摘要翻译：数据处理器包括：中央处理单元（CPU），其中在不同操作系统的控制下运行应用程序的多个虚拟机（101）和用于控制多个虚拟机的虚拟机器管理器（190）根据在模式寄存器（140,150,151）中设置的信息来选择性地布置机器; 以及用于管理对可用于所述多个虚拟机的硬件资源的访问的资源访问管理模块（110）。资源访问管理模块将在模式寄存器中设置的信息和中央处理单元的访问控制信息作为输入接受到硬件资源，将由此输入的信息与设置在控制寄存器中的信息进行比较，并且控制是否响应于访问控制信息允许访问硬件资源。因此，可以减少涉及系统规格变化的重新设计，并且可以防止由于资源争用引起的故障。本发明有助于提高安全性。

30. 发明授权

US07355973B2 Data transmitting device and method for transmitting and receiving data and data communication system 失效
标题翻译：用于发送和接收数据和数据通信系统的数据传输设备和方法
公开(公告)号：US07355973B2
公开(公告)日：2008-04-08
申请号：US10681191
申请日：2003-10-09
申请人： Takashi Matsumoto , Nobuyuki Sudo , Hiroaki Hamanaka
发明人： Takashi Matsumoto , Nobuyuki Sudo , Hiroaki Hamanaka
IPC分类号： G06F11/00
CPC分类号： H04L47/10 , H04L47/36 , H04L69/24
摘要： When data is transmitted to a destination of data transmission, a multiplex communication system 1 as a source of data transmission receives, from the destination of data transmission through a data reception processing unit 15, the information about the amount of data which can be successively received, compares the amount of data which can be successively received with the amount of data which can be successively transmitted as preset, selects the smaller amount, creates a packet for successively transmitting data frames corresponding to the amount of data as selected, and transmit said packet through a data transmission processing unit 14.
摘要翻译：当将数据发送到数据传输的目的地时，作为数据传输源的多路复用通信系统1从数据接收处理单元15的数据传输目的地接收关于可以连续接收的数据量的信息将可以连续接收的数据量与可以预先连续发送的数据量进行比较，选择较小的量，创建用于连续发送与所选择的数据量相对应的数据帧的分组，并发送所述分组通过数据发送处理单元14。

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