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1. 发明授权

US08761925B2 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US08761925B2
公开(公告)日：2014-06-24
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

2. 发明授权

US08703995B2 Method of preparing alkyl (meth)acrylate 有权
标题翻译：制备（甲基）丙烯酸烷基酯的方法
公开(公告)号：US08703995B2
公开(公告)日：2014-04-22
申请号：US13702533
申请日：2011-04-14
申请人： Jun-Seok Ko , Hyun-Kyu Kim , Se-Won Baek , Dong-Hyun Cho
发明人： Jun-Seok Ko , Hyun-Kyu Kim , Se-Won Baek , Dong-Hyun Cho
IPC分类号： C07C67/48
CPC分类号： C07C67/08 , C07C67/54 , C07C69/54
摘要： The present invention relates to a method of preparing an alkyl (meth)acrylate, and more specifically to a method of preparing an alkyl (meth)acrylate which comprises the steps of: carrying out an esterification reaction with reactants comprising an alkanol and (meth)acrylic acid in the presence of an organic acid catalyst with a conversion rate of about 70% or more; supplying reaction products of the esterification reaction to a distillation tower equipped with a reboiler at the lower end to purify them; recovering a upper discharge comprising an alkyl (meth)acrylate and water at the upper part of the distillation tower and recovering a lower discharge comprising high boiling materials and water at the lower part of the distillation tower; separating the lower discharge of the distillation tower into a water layer and an organic layer; and recirculating the water layer separated from the lower discharge so as to be used in the esterification reaction, wherein each of the steps occurs continuously and the lower discharge of the distillation tower includes water in an amount of about 2-25% by weight with respect to the total weight of the lower discharge.
摘要翻译：本发明涉及一种制备（甲基）丙烯酸烷基酯的方法，更具体地涉及一种（甲基）丙烯酸烷基酯的制备方法，该方法包括以下步骤：与包含链烷醇和（甲基）丙烯酸酯的反应物进行酯化反应，丙烯酸在有机酸催化剂存在下，转化率约70％以上; 将酯化反应的反应产物供给到在下端装备有再沸器的蒸馏塔以净化它们; 在蒸馏塔的上部回收包含（甲基）丙烯酸烷基酯和水的上部排出物，并在蒸馏塔的下部回收包含高沸点物质和水的低排出物; 将蒸馏塔的下部排出口分离成水层和有机层; 并且将从下部排出口分离的水层再循环以便用于酯化反应，其中每个步骤连续发生，并且蒸馏塔的较低排放量包括约2-25重量％的水，相对于到较低放电的总重量。

3. 发明授权

US08405340B2 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US08405340B2
公开(公告)日：2013-03-26
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。

4. 发明申请

US20110060158A1 Preparation Method for (Meth)acrylate 审中-公开
标题翻译：（甲基）丙烯酸酯的制备方法
公开(公告)号：US20110060158A1
公开(公告)日：2011-03-10
申请号：US12853430
申请日：2010-08-10
申请人： Hyun-Kyu Kim , Dong-Hyun Cho , Jun-Seok Ko , Kyong-Yong Cha , Se-Won Baek , Dong-Hyun Woo
发明人： Hyun-Kyu Kim , Dong-Hyun Cho , Jun-Seok Ko , Kyong-Yong Cha , Se-Won Baek , Dong-Hyun Woo
IPC分类号： C07C69/54
CPC分类号： C07C67/08 , C07C69/54
摘要： The present invention provides a method for preparing (meth)acrylate by esterification reaction of reactants containing (meth)acrylic acid and alcohol in the presence of a catalyst, the preparation method for (meth)acrylate is characterized in that a hydrazine compound or derivative thereof is put into an esterification reactor; and (meth)acrylate prepared by the same. The present invention effectively prevents impurities generated by aldehyde that is contained in the raw material (meth)acrylic acid from remaining in a production apparatus and the catalyst, so that the process for producing (meth)acrylate proceeds smoothly.
摘要翻译：本发明提供一种通过在催化剂存在下含有（甲基）丙烯酸和醇的反应物的酯化反应制备（甲基）丙烯酸酯的方法，（甲基）丙烯酸酯的制备方法的特征在于肼化合物或其衍生物放入酯化反应器中; 和（甲基）丙烯酸酯。本发明有效地防止在（甲基）丙烯酸原料中含有的由醛生成的杂质残留在生产装置和催化剂中，使得（甲基）丙烯酸酯的制备方法顺利进行。

5. 发明授权

US07747163B2 Testing matter photographing apparatus attached three dimensional image photographing device 失效
标题翻译：附属三维图像拍摄装置的测试物拍摄装置
公开(公告)号：US07747163B2
公开(公告)日：2010-06-29
申请号：US12096003
申请日：2006-12-11
申请人： Hyun-Kyu Kim
发明人： Hyun-Kyu Kim
IPC分类号： G03B35/00 , H04N15/00 , H04N13/00
CPC分类号： G03B35/26 , G02B26/008
摘要： The present invention relates to an apparatus for photographing an experimental object or animal. The apparatus comprises: a two-dimensional image photographing device which includes a light source, a first optical filter wheel, a first motor, a beam splitter, a second motor, a first window, a second window, an optical zoom module, a second optical filter wheel, a fourth motor, a photographing means and a first enclosure; a three-dimensional image photographing device which includes a laser scanner, a test tube, a third motor, a test tube mounting stand and a second enclosure; and a control section for controlling the operations of the first motor, the second motor, the optical zoom module, the photographing means, the third motor and the fourth motor. The experimental object photographing apparatus includes the three-dimensional experimental object photographing device detachably mounted to the two-dimensional image photographing device so as to obtain two-and three-dimensional images of the experimental object. Since the three-dimensional image photographing device is coupled to the two-dimensional image photographing device only when it is desired to photograph the three-dimensional image, its installation and operation are easy and the two-and three-dimensional image photographing devices do not need to be purchased separately, thereby saving the cost.
摘要翻译：本发明涉及一种拍摄实验物体或动物的装置。该装置包括：二维图像拍摄装置，其包括光源，第一滤光轮，第一电动机，分束器，第二电动机，第一窗口，第二窗口，光学变焦模块，第二光学滤光轮，第四电动机，拍摄装置和第一外壳; 三维图像拍摄装置，包括激光扫描器，试管，第三马达，试管安装台和第二外壳; 以及用于控制第一电动机，第二电动机，光学变焦模块，拍摄装置，第三电动机和第四电动机的操作的控制部分。实验对象拍摄装置包括可拆卸地安装到二维图像拍摄装置的三维实验物体拍摄装置，以获得实验对象的二维和三维图像。由于三维图像拍摄装置仅在需要拍摄三维图像时才耦合到二维图像拍摄装置，因此其安装和操作容易，并且二维和三维图像拍摄装置不需要单独购买，从而节省成本。

6. 发明申请

US20100040279A1 METHOD AND APPARATUS TO BUILD 3-DIMENSIONAL GRID MAP AND METHOD AND APPARATUS TO CONTROL AUTOMATIC TRAVELING APPARATUS USING THE SAME 有权
标题翻译：构建三维网格地图的方法和装置以及使用该方法和装置控制自动旅行装置的方法
公开(公告)号：US20100040279A1
公开(公告)日：2010-02-18
申请号：US12411446
申请日：2009-03-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
发明人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
摘要翻译：一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

7. 发明申请

US20090321150A1 Walking robot and method of controlling the same 审中-公开
标题翻译：步行机器人及其控制方法
公开(公告)号：US20090321150A1
公开(公告)日：2009-12-31
申请号：US12382188
申请日：2009-03-10
申请人： Woong Kwon , Hyun Kyu Kim , SukJune Yoon
发明人： Woong Kwon , Hyun Kyu Kim , SukJune Yoon
IPC分类号： G05B19/04 , B62D57/032 , G06F19/00 , B62D57/02
CPC分类号： B25J5/00
摘要： Disclosed are a walking robot and a method of controlling the same, in which one method is selected from a ZMP control method and a FSM control method. Based on characteristics of a motion to be performed, the current control mode of the walking robot is converted into a different control mode, and the motion is performed based on the converted control mode, to enhance the efficiency and performance of the walking robot. The method includes receiving an instruction to perform a motion; selecting any one mode, which is determined to be more proper to perform the instructed motion, out of a position-based first control mode and a torque-based second control mode; and performing the instructed motion according to the selected control mode.
摘要翻译：公开了一种步行机器人及其控制方法，其中从ZMP控制方法和FSM控制方法中选择一种方法。基于要执行的运动的特征，将步行机器人的当前控制模式转换为不同的控制模式，并且基于转换的控制模式执行运动，以提高步行机器人的效率和性能。该方法包括接收执行运动的指令; 从基于位置的第一控制模式和基于扭矩的第二控制模式中选择被确定为更适合执行指示运动的任何一个模式; 以及根据所选择的控制模式执行所指示的运动。

8. 发明申请

US20080009971A1 WALKING ROBOT AND CONTROL METHOD THEREOF 审中-公开
标题翻译：运动机器人及其控制方法
公开(公告)号：US20080009971A1
公开(公告)日：2008-01-10
申请号：US11744249
申请日：2007-05-04
申请人： Hyun kyu KIM , Kyung Shik Roh , Woong Kwon
发明人： Hyun kyu KIM , Kyung Shik Roh , Woong Kwon
IPC分类号： G06F19/00 , G05B19/00
CPC分类号： B62D57/032
摘要： A walking robot includes legs, driving parts provided respectively at the legs for operating the legs, detecting parts provided respectively at the legs for detecting operating states of the legs, a walking pattern generating unit for generating a walking pattern by using predetermined control factors, and a stiffness adjusting unit for adjusting stiffness of the driving parts according to the operating states of the legs which operate according to the walking pattern. The walking robot is capable of generating a walking pattern according to a unique frequency thereof and adjusting stiffness of driving parts of the legs according to the generated walking pattern, to thereby increase an energy efficiency.
摘要翻译：行走机器人包括腿部，分别设置在腿部的操作腿部的驱动部分，分别设置在腿部处的检测部分，用于检测腿部的运行状态;步行模式生成单元，用于通过使用预定的控制因素产生行走模式;以及刚度调节单元，用于根据行走模式操作的腿部的操作状态来调节驱动部件的刚度。步行机器人能够根据其独特的频率产生行走模式，并且根据生成的行走模式调整腿的驱动部分的刚度，从而提高能量效率。

9. 发明申请

US20060279838A1 Large telescopic optical system with null alignment optics 审中-公开
标题翻译：具有空对准光学的大型伸缩光学系统
公开(公告)号：US20060279838A1
公开(公告)日：2006-12-14
申请号：US11506109
申请日：2006-08-17
申请人： Yeon-Soo Kim , Hyun-Sook Kim , Hyun-Kyu Kim
发明人： Yeon-Soo Kim , Hyun-Sook Kim , Hyun-Kyu Kim
IPC分类号： G02B23/00
CPC分类号： G02B23/00 , G02B7/003
摘要： An optical system for monitoring an alignment state of a large telescope comprises a primary mirror and an annular null mirror, which is placed at the outside of a secondary mirror. The optical system functions as a null system, where the wave front of the reflected rays from the null mirror is consistent with the surface shape of the primary mirror in regional band. Since the null system uses a small annular lens on the outside of the secondary mirror, it has the advantages of lightweight and small overall size.
摘要翻译：用于监测大望远镜的对准状态的光学系统包括主反射镜和放置在副镜的外侧的环形零反光镜。光学系统作为零系统，其中来自零反射镜的反射光线的波前与区域波段中的主反射镜的表面形状一致。由于零系统在次级反射镜外侧使用小型环形透镜，因此具有重量轻，体积小的优点。

10. 发明授权

US06831121B2 Trimethylolpropane ester-based plasticizer composition for polyvinyl chloride resin 有权
标题翻译：用于聚氯乙烯树脂的三羟甲基丙烷酯类增塑剂组合物
公开(公告)号：US06831121B2
公开(公告)日：2004-12-14
申请号：US10204621
申请日：2002-08-22
申请人： Kye-Seok Lee , Kyu-Il Lee , Hyun-Kyu Kim
发明人： Kye-Seok Lee , Kyu-Il Lee , Hyun-Kyu Kim
IPC分类号： C08K511
CPC分类号： C08K5/103 , C08L27/06
摘要： The present invention relates to a trimethylolpropane ester-based plasticizer composition for polyvinyl chloride resin, more particularly a plasticizer composition comprising trimethylolpropane ester capable of using as plasticizer of polyvinyl chloride resin. The present invention can prepare polyvinyl chloride resin having superior tensile strength, elongation, migration, and sheet heating loss etc. by using the plasticizer composition.
摘要翻译：本发明涉及一种用于聚氯乙烯树脂的三羟甲基丙烷酯系增塑剂组合物，更具体地说，涉及能够用作聚氯乙烯树脂的增塑剂的三羟甲基丙烷酯的增塑剂组合物。本发明可以通过使用增塑剂组合物制备具有优异的拉伸强度，伸长率，迁移和片材加热损失等的聚氯乙烯树脂。

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