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    • 62. 发明授权
    • Zoom lens
    • 变焦镜头
    • US5241421A
    • 1993-08-31
    • US647495
    • 1991-01-29
    • Hiroshi EndoHideki Ogawa
    • Hiroshi EndoHideki Ogawa
    • G02B15/173
    • G02B15/173
    • A zoom lens is disclosed comprising a front lens group having a positive lens unit, a negative lens unit and a positive lens unit and whose overall refractive power is positive, and a rear lens group having a positive lens unit and a negative lens unit and whose overall refractive power is negative, wherein zooming is performed by varying all the lens separations between the successive two of the lens units and focusing is performed by varying at least the lens separation between the positive lens unit and the negative lens unit of the rear lens group.
    • 公开了一种变焦透镜,包括具有正透镜单元,负透镜单元和正透镜单元并且其总折射力为正的前透镜组,以及具有正透镜单元和负透镜单元的后透镜组, 总的屈光力是负的,其中通过改变连续的两个透镜单元之间的所有透镜间隔来执行变焦,并且通过至少改变后透镜组的正透镜单元和负透镜单元之间的透镜间隔来执行聚焦 。
    • 68. 发明申请
    • CLOSED LOOP FORMATION PREVENTING SYSTEM AND CLOSED LOOP FORMATION PREVENTING METHOD
    • 闭环形成预防系统和封闭环形成预防方法
    • US20130176889A1
    • 2013-07-11
    • US13824358
    • 2011-08-09
    • Hideki Ogawa
    • Hideki Ogawa
    • H04L12/56
    • H04L45/70H04L12/12H04L43/0811H04L43/10H04L45/04H04L45/18H04L49/3009Y02D50/40Y02D50/42
    • In an open flow network system in which there are a plurality of networks, in each of which one OFC (OpenFlow Controller) manages a plurality of OFSs (OpenFlow Switches), and a large network is formed by a combination of them, registration of a flow entry which forms a closed loop is prevented without a component and a procedure for cooperation of the plurality of OFCs. Specifically, after route calculation, the OFC temporarily registers an flow entry of a calculation result on a flow table of the OFS as the flow entry for a test. After that, the OFS flows the test packet according to the temporarily registered flow entry. When the test packet is routed without forming the closed loop, the OFS detects it and normally registers the flow entry for a first time. Detecting that the test packet forms a closed loop, the OFS deletes a temporarily registering flow entry and returns an error to the OFC.
    • 在存在多个网络的开放流网络系统中,其中一个OFC(OpenFlow Controller)管理多个OFS(OpenFlow交换机),并且通过它们的组合形成大型网络,其中, 防止形成闭环的流入口,而没有用于多个OFC的协作的组件和过程。 具体来说,在路径计算之后,OFC将OFS的流表上的计算结果的流入口临时登记为测试的流入口。 之后,OFS根据临时注册的流条目流入测试包。 当测试分组路由而不形成闭环时,OFS检测它,并且通常首次登记流入口。 检测测试包形成闭环,OFS删除一个临时注册的流条目,并向OFC返回一个错误。
    • 70. 发明申请
    • ROBOT CONTROLLING DEVICE
    • 机器人控制装置
    • US20120150347A1
    • 2012-06-14
    • US13397741
    • 2012-02-16
    • Junichiro OhgaJunji OakiHideki Ogawa
    • Junichiro OhgaJunji OakiHideki Ogawa
    • B25J13/08
    • B25J9/1633G05B2219/39325
    • A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
    • 机器人控制装置包括:位置误差计算器,计算机器人的端点位置与端点位置的位置指令值之间的位置误差; 计算施加到端点位置的外力的外力计算器; 力指令值发生器产生用于所述端点位置的力命令值; 计算外力与力指令值之间的力误差的力误差计算器; 存储用于端点位置的合规性模型的存储器; 第一校正量计算器,使用所述合规模型,根据所述力误差计算所述位置指令值的第一校正量; 以及第二校正量计算器,基于第一校正量的一阶滞后补偿来计算位置指令值的第二校正量。 位置误差计算器使用第二校正量来计算位置误差。