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1. 发明授权

US5098145A Low friction gripper 失效
标题翻译：低摩擦夹具
公开(公告)号：US5098145A
公开(公告)日：1992-03-24
申请号：US617915
申请日：1990-11-21
申请人： Kenneth Y. Goldberg , Merrick L. Furst
发明人： Kenneth Y. Goldberg , Merrick L. Furst
IPC分类号： B25B1/24 , B25J15/02
CPC分类号： B25B1/2452 , B25B1/2405 , B25J15/026
摘要： An apparatus for gripping objects comprising a first jaw having a first support member and a first support plate that is slidingly attached to the support member with respect to a first direction or motion. The apparatus is also comprised of a second jaw that has a second support member and a second surface plate attached to the second surface member. Additionally, the apparatus is comprised of a structure holding the first jaw and the second jaw such that the first jaw and the second jaw can move in a second direction toward or away from each other to grip or release the object, respectively. In a preferred embodiment, the second surface plate is fixedly attached to the second support member and the first direction is perpendicular to the second direction. The sliding action of the first support plate acts to reduce the effective frictional force between the object and jaws to facilitate stable grasping.
摘要翻译：一种用于夹持物体的装置，包括具有第一支撑构件和相对于第一方向或运动滑动地附接到支撑构件的第一支撑板的第一钳口。该装置还包括具有第二支撑构件和附接到第二表面构件的第二表面板的第二钳口。此外，该装置由保持第一钳口和第二钳口的结构构成，使得第一钳口和第二钳口可以分别沿着第二方向或彼此远离彼此移动以夹持或释放物体。在优选实施例中，第二表面板固定地附接到第二支撑构件，并且第一方向垂直于第二方向。第一支撑板的滑动作用用于减小物体和夹爪之间的有效摩擦力，以便于抓握。

2. 发明授权

US07937285B2 Remote collaborative control and direction 有权
标题翻译：远程协同控制和方向
公开(公告)号：US07937285B2
公开(公告)日：2011-05-03
申请号：US10121955
申请日：2002-04-12
申请人： Kenneth Y Goldberg , Judith Donath , Eric J. Paulos , David Pescovitz , Kelly Dobson , Matthew Lee , Anthony Levandowski , Dezhen Song , Dana Spiegel , Derek Tang
发明人： Kenneth Y Goldberg , Judith Donath , Eric J. Paulos , David Pescovitz , Kelly Dobson , Matthew Lee , Anthony Levandowski , Dezhen Song , Dana Spiegel , Derek Tang
IPC分类号： G06F17/30
CPC分类号： H04N7/17318 , G06Q10/10 , G06Q30/0202 , H04L12/1813 , H04L29/06 , H04L67/38 , H04N21/2187 , H04N21/252 , H04N21/4758 , H04N21/8541
摘要： A collaborative online tele-operation system allows an audience of many participants to simultaneously share control of a single remote actor, such that the actions of the actor are based on the ongoing collective preferences of the audience.
摘要翻译：协作的在线电话操作系统允许许多参与者的观众同时分享对单个遥控演员的控制，使得演员的动作基于观众的持续集体偏好。

3. 发明授权

US5907322A Television event marking system 失效
标题翻译：电视事件标记系统
公开(公告)号：US5907322A
公开(公告)日：1999-05-25
申请号：US731525
申请日：1996-10-16
申请人： Gregory H. Kelly , Kenneth Y. Goldberg , John S. Gee , Philip D. Levinson , Scott Fullam
发明人： Gregory H. Kelly , Kenneth Y. Goldberg , John S. Gee , Philip D. Levinson , Scott Fullam
IPC分类号： H04L29/06 , H04L29/08 , H04N7/14 , H04N7/173 , H04N21/442 , H04N21/462 , H04N21/472 , H04N21/4782 , H04N7/16
CPC分类号： H04N21/47214 , H04L29/06 , H04L67/22 , H04N21/44222 , H04N21/4622 , H04N21/4782 , H04N7/147 , H04N7/17318 , H04L69/329
摘要： A system for bookmarking viewer selected TV broadcast events and displaying a set of associated internet locations or website hotlinks, comprising the selection of a set of broadcast events using a remote control, and storing a set of event-identifier data associated with the set of selected broadcast events in an activity table, and then generating a set of associated internet locations or website hotlinks by comparing the set of event identifiers with a database of TV schedules, events and company information. The generated set of associated internet locations or website hotlinks can then be used by viewer for access to and display of the selected internet locations associated with the set of selected broadcast events.
摘要翻译：一种用于为观看者选择的电视广播事件进行书签并显示一组相关联的互联网位置或网站热链接的系统，包括使用遥控器选择一组广播事件，以及存储与所选择的集合相关联的一组事件标识符数据在活动表中广播事件，然后通过将事件标识符与电视节目表，事件和公司信息的数据库进行比较来生成一组相关联的互联网位置或网站热链接。所产生的相关联的互联网位置集合或网站热链接随后可被观看者用于访问和显示与所选择的广播事件的集合相关联的所选择的互联网位置。

4. 发明授权

US5546314A Processor and method for developing a set of admissible fixture designs for a workpiece 失效
标题翻译：用于开发一组工件可容许夹具设计的处理器和方法
公开(公告)号：US5546314A
公开(公告)日：1996-08-13
申请号：US466112
申请日：1995-06-06
申请人： Randolph C. Brost , Kenneth Y. Goldberg , Aaron S. Wallack , John Canny
发明人： Randolph C. Brost , Kenneth Y. Goldberg , Aaron S. Wallack , John Canny
IPC分类号： B23Q3/10 , G06F19/00
CPC分类号： B23Q3/103
摘要： A fixture process and method is provided for developing a complete set of all admissible fixture designs for a workpiece which prevents the workpiece from translating or rotating. The fixture processor generates the set of all admissible designs based on geometric access constraints and expected applied forces on the workpiece. For instance, the fixture processor may generate a set of admissible fixture designs for first, second and third locators placed in an array of holes on a fixture plate and a translating clamp attached to the fixture plate for contacting the workpiece. In another instance, a fixture vice is used in which first, second, third and fourth locators are used and first and second fixture jaws are tightened to secure the workpiece. The fixture process also ranks the set of admissible fixture designs according to a predetermined quality metric so that the optimal fixture design for the desired purpose may be identified from the set of all admissible fixture designs.
摘要翻译：提供了一种固定工艺和方法，用于开发用于工件的一整套允许的夹具设计，防止工件平移或旋转。夹具处理器基于几何访问约束和对工件的预期施加力产生所有允许设计的集合。例如，固定装置处理器可以产生一组可容许的夹具设计，用于放置在固定板上的孔阵列中的第一，第二和第三定位器以及附接到固定板的用于接触工件的平移夹具。在另一种情况下，使用夹具，其中使用第一，第二，第三和第四定位器，并且紧固第一和第二固定夹爪以固定工件。固定过程还根据预定的质量度量对一组允许的夹具设计进行排列，从而可以从所有允许的夹具设计的集合中识别用于期望目的的最佳夹具设计。

5. 发明授权

US07822458B2 Distal bevel-tip needle control device and algorithm 有权
标题翻译：远端斜针针控制装置及算法
公开(公告)号：US07822458B2
公开(公告)日：2010-10-26
申请号：US11436995
申请日：2006-05-19
申请人： Robert J. Webster, III , Allison M. Okamura , Noah J. Cowan , Gregory Chirikjian , Kenneth Y. Goldberg , Ron Alterovitz
发明人： Robert J. Webster, III , Allison M. Okamura , Noah J. Cowan , Gregory Chirikjian , Kenneth Y. Goldberg , Ron Alterovitz
IPC分类号： A61B5/05
CPC分类号： A61B17/3403 , A61B8/0833 , A61B10/0233 , A61B34/10 , A61B90/10 , A61B2017/00274 , A61B2017/3409 , A61B2018/00547 , A61B2090/376
摘要： Disclosed is a system for percutaneously steering a surgical needle. Needle steering is accomplished by taking advantage of a deflection force imparted on the bevel tip of the needle by the tissue medium as the needle is pushed through the tissue. By controlling the translation speed and rotation angle of the bevel, a flexible needle may be steered substantially without deflecting or distorting the tissue. The control inputs (translation speed and rotation angle) are computed based on a “bicycle” non-holonomic kinematic model that is a function of mechanical properties of the tissue medium. The system may be used with image-based feedback, which may provide for feedback-based refinement of the model as the needle propagates through the tissue.
摘要翻译：公开了一种用于经皮转向外科用针的系统。通过利用当针被推过组织时由组织介质施加在针的斜面尖端上的偏转力来实现针转向。通过控制斜面的平移速度和旋转角度，柔性针可以基本上转向，而不会使组织变形或变形。基于作为组织介质的机械特性的函数的“自行车”非完整运动学模型来计算控制输入（平移速度和旋转角度）。该系统可以与基于图像的反馈一起使用，这可以在针传播通过组织时提供模型的基于反馈的细化。

6. 发明授权

US5856924A Processor and method for developing a set of admissible fixture designs for a workpiece 失效
标题翻译：用于开发一组工件可容许夹具设计的处理器和方法
公开(公告)号：US5856924A
公开(公告)日：1999-01-05
申请号：US430884
申请日：1995-04-28
申请人： Randolph C. Brost , Kenneth Y. Goldberg , John Canny , Aaron S. Wallack
发明人： Randolph C. Brost , Kenneth Y. Goldberg , John Canny , Aaron S. Wallack
IPC分类号： B23Q3/10 , G06F19/00 , G06G7/66
CPC分类号： B23Q3/103 , Y10T483/1707 , Y10T483/171 , Y10T483/1719 , Y10T483/1767
摘要： Methods and apparatus are provided for developing a complete set of all admissible Type I and Type II fixture designs for a workpiece. The fixture processor generates the set of all admissible designs based on geometric access constraints and expected applied forces on the workpiece. For instance, the fixture processor may generate a set of admissible fixture designs for first, second and third locators placed in an array of holes on a fixture plate and a translating clamp attached to the fixture plate for contacting the workpiece. In another instance, a fixture vise is used in which first, second, third and fourth locators are used and first and second fixture jaws are tightened to secure the workpiece. The fixture process also ranks the set of admissible fixture designs according to a predetermined quality metric so that the optimal fixture design for the desired purpose may be identified from the set of all admissible fixture designs.
摘要翻译：提供的方法和设备用于开发一套完整的所有可接受的I型和II型夹具设计用于工件。夹具处理器基于几何访问约束和对工件的预期施加力产生所有允许设计的集合。例如，固定装置处理器可以产生一组可容许的夹具设计，用于放置在固定板上的孔阵列中的第一，第二和第三定位器以及附接到固定板的用于接触工件的平移夹具。在另一种情况下，使用夹具虎钳，其中使用第一，第二，第三和第四定位器，并且拧紧第一和第二固定夹爪以固定工件。固定过程还根据预定的质量度量对一组允许的夹具设计进行排列，从而可以从所有允许的夹具设计的集合中识别用于期望目的的最佳夹具设计。

7. 发明授权

US5186515A Low friction gripper 失效
标题翻译：低摩擦夹具
公开(公告)号：US5186515A
公开(公告)日：1993-02-16
申请号：US799080
申请日：1991-11-27
申请人： Kenneth Y. Goldberg , Merrick L. Furst
发明人： Kenneth Y. Goldberg , Merrick L. Furst
IPC分类号： B25B1/24 , B25J15/02 , C04B16/08 , C04B28/02
CPC分类号： B25J15/026 , B25B1/2405 , B25B1/2452
摘要： An apparatus for gripping objects comprising a first jaw having a first support member and a first support plate that is slidingly attached to the support member with respect to a first direction or motion. The apparatus is also comprised of a second jaw that has a second support member and a second surface plate attached to the second surface member. Additionally, the apparatus is comprised of a structure holding the first jaw and the second jaw such that the first jaw and the second jaw can move in a second direction toward or away from each other to grip or release the object, respectively. In a preferred embodiment, the second surface plate is fixedly attached to the second support member and the first direction is perpendicular to the second direction. The sliding action of the first support plate acts to reduce the effective frictional force between the object and jaws to facilitate stable grasping.
摘要翻译：一种用于夹持物体的装置，包括具有第一支撑构件和相对于第一方向或运动滑动地附接到支撑构件的第一支撑板的第一钳口。该装置还包括具有第二支撑构件和附接到第二表面构件的第二表面板的第二钳口。此外，该装置由保持第一钳口和第二钳口的结构构成，使得第一钳口和第二钳口可以分别沿着第二方向或彼此远离彼此移动以夹持或释放物体。在优选实施例中，第二表面板固定地附接到第二支撑构件，并且第一方向垂直于第二方向。第一支撑板的滑动作用用于减小物体和夹爪之间的有效摩擦力，以便于抓握。

8. 发明授权

US06606624B1 Apparatus and method for recommending to an individual selective information contained within a computer network 有权
标题翻译：用于向计算机网络中包含的个体选择性信息推荐的装置和方法
公开(公告)号：US06606624B1
公开(公告)日：2003-08-12
申请号：US09467447
申请日：1999-12-20
申请人： Kenneth Y. Goldberg
发明人： Kenneth Y. Goldberg
IPC分类号： G06F1700
CPC分类号： G06F17/30867 , Y10S707/99936
摘要： The method of the invention is executed by a computer under the control of a program stored in computer memory. The method includes the step of accumulating preference data for a set of individuals. The preference data is transformed from multi-dimensional data to lower-dimensional data using a principal component analysis. The lower-dimensional data is then converted into a recommendation map where predicted preference information for a selected individual is easily computed. Recommended content is then routed to the selected individual. The invention has been tested, by way of example, to recommend jokes to users based on their ratings of sample jokes.
摘要翻译：本发明的方法由计算机在存储在计算机存储器中的程序的控制下执行。该方法包括累积一组个体的偏好数据的步骤。偏好数据使用主成分分析从多维数据转换为低维数据。然后将较低维数据转换成推荐图，其中易于计算所选个体的预测偏好信息。然后将推荐的内容路由到所选的个人。例如，本发明已经通过例子来测试，基于他们对抽样笑话的评价来向用户推荐笑话。

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