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1. 发明授权

US07561941B2 Ambulatory robot and method for controlling the same 失效
标题翻译：动作机器人及其控制方法
公开(公告)号：US07561941B2
公开(公告)日：2009-07-14
申请号：US10763395
申请日：2004-01-26
申请人： Woong Kwon , Suk-han Lee
发明人： Woong Kwon , Suk-han Lee
IPC分类号： G05B19/416 , G06F19/00 , B62D51/06
CPC分类号： A63H11/00 , A63H2200/00 , B62D57/032
摘要： An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.
摘要翻译：一种行走机器人，包括具有两个或更多个腿的下身部分和安装在下身部的上端上并能够通过移动下身部进行位置移位的上身部，包括用于感测斜面的倾斜检测装置位于两个或多个腿部的每个的底面上的旋转装置，以及用于控制使用下部和上部身体部分的步行式机器人运动的控制装置，其中控制装置控制基于地面坡度的旋转装置，并且控制移动机器人的运动，使得根据控制的转速可以通过行驶，行走和滑动中的任何一个来执行步行式机器人的位置偏移。

2. 发明授权

US07379844B2 Particle sampling method and sensor fusion and filtering method 有权
标题翻译：粒子采样方法和传感器融合与滤波方法
公开(公告)号：US07379844B2
公开(公告)日：2008-05-27
申请号：US11276127
申请日：2006-02-15
申请人： Suk-Han Lee , Seong-Soo Lee , Jang-Yong Lee , Seung-Min Baek
发明人： Suk-Han Lee , Seong-Soo Lee , Jang-Yong Lee , Seung-Min Baek
IPC分类号： G06F15/00 , G06F7/60
CPC分类号： G05B13/04 , G05B17/02
摘要： Disclosed is a technique for obtaining an estimate and variance of each variable based on a constraint manifold. Particles (or samples) are sampled in order to filter and fuse ambiguous data or information on at least one state variable of a system using the particles. The sampling is carried out in consideration of an influence which non-linearity of the constraint manifold of a system model, an observation model or another system model exerts on a probability distribution of the state variable. With this construction, it is possible to reduce decrease of fusion and filtering performance, decrease a Gaussian approximation error, and detect mismatched information.
摘要翻译：公开了一种基于约束歧管获得每个变量的估计和方差的技术。对粒子（或样本）进行采样，以便使用粒子对系统的至少一个状态变量进行过滤和融合不明确的数据或信息。考虑到系统模型，观测模型或其他系统模型的约束歧管的非线性对状态变量的概率分布施加的影响来进行抽样。利用这种结构，可以减少融合和滤波性能的降低，降低高斯近似误差，并检测不匹配的信息。

3. 发明申请

US20070097177A1 Droplet ejection device and method using electrostatic field 失效
标题翻译：液滴喷射装置和使用静电场的方法
公开(公告)号：US20070097177A1
公开(公告)日：2007-05-03
申请号：US11260689
申请日：2005-10-28
申请人： Suk-Han Lee , Han-Seo Ko , Do-Young Byun , Sang-Joon Han , Yong-Jae Kim , Sang-Uk Son , Jung-Taek Oh , Ji-Hye Yang
发明人： Suk-Han Lee , Han-Seo Ko , Do-Young Byun , Sang-Joon Han , Yong-Jae Kim , Sang-Uk Son , Jung-Taek Oh , Ji-Hye Yang
IPC分类号： B41J2/06
CPC分类号： B41J2/06
摘要： Disclosed are a droplet ejection device and method using an electrostatic field. The droplet ejection method includes: setting a separate electric field direction in each of a plurality of nozzles; supplying one of ink and ink containing particles to each nozzle; and forming and ejecting a plurality of separate ink droplets. The droplet ejection device includes a deposition part having electrode layers and insulating layers deposited toward a nozzle. Therefore, it is possible to readily perform droplet ejection without a heater or diaphragm vibration device. In addition, it is possible to reduce impact applied to the ink and obtain good print quality, since the ink is ejected using the electrostatic field.
摘要翻译：公开了一种使用静电场的液滴喷射装置和方法。液滴喷射方法包括：在多个喷嘴中设置单独的电场方向; 向每个喷嘴供应含有墨和墨的颗粒之一; 以及形成和喷射多个单独的墨滴。液滴喷射装置包括具有电极层和向喷嘴沉积的绝缘层的沉积部分。因此，无需加热器或隔膜振动装置即可容易地进行液滴喷射。此外，由于使用静电场喷射墨水，因此可以减少施加到墨水上的冲击并获得良好的打印质量。

4. 发明授权

US07031890B2 Method and apparatus for estimating state parameter in nonlinear discrete time system 有权
标题翻译：用于估计非线性离散时间系统中状态参数的方法和装置
公开(公告)号：US07031890B2
公开(公告)日：2006-04-18
申请号：US09791733
申请日：2001-02-26
申请人： Jae-won Lee , Suk-han Lee
发明人： Jae-won Lee , Suk-han Lee
IPC分类号： G06F17/50
CPC分类号： G06F17/10
摘要： A method and apparatus for estimating a state parameter in a nonlinear discrete time system are provided. The method for estimating a state parameter has the steps of (a) predicting a state parameter at a current time using an estimated state parameter at a previous time and a system dynamics; and (b) estimating an optimal state parameter at the current time from the state parameter predicted in the step (a) and a system output parameter measured at the current time, using a geometric data fusion method. Since the method and apparatus for estimating a state parameter have an excellent estimation performance particularly when nonlinearity is great or the error in an estimated initial value is big, the method and apparatus solve many problems, which cannot be solved by the conventional extended Kalman filter, and more improve the performance of estimating a state parameter, by analyzing the system characteristic and then appropriately utilizing constraints such as the operation range of the state parameter.
摘要翻译：提供了一种用于估计非线性离散时间系统中的状态参数的方法和装置。用于估计状态参数的方法具有以下步骤：（a）使用前一时间的估计状态参数和系统动态来预测当前时间的状态参数; 以及（b）使用几何数据融合方法，从当前时刻所预测的状态参数和当前时刻测定的系统输出参数，估计当前时刻的最佳状态参数。由于用于估计状态参数的方法和装置具有优异的估计性能，特别是当非线性大或估计初始值的误差大时，该方法和装置解决了常规扩展卡尔曼滤波器无法解决的许多问题，并且通过分析系统特性，然后适当地利用诸如状态参数的操作范围的约束，来提高估计状态参数的性能。

5. 发明授权

US07012946B2 Photonic crystal-based resonant cavity and resonator 有权
标题翻译：光子晶体谐振腔和谐振器
公开(公告)号：US07012946B2
公开(公告)日：2006-03-14
申请号：US10724632
申请日：2003-12-02
申请人： Ji-deog Kim , Suk-han Lee
发明人： Ji-deog Kim , Suk-han Lee
IPC分类号： H01S3/08
CPC分类号： G02B6/1225 , B82Y20/00
摘要： A photonic crystal-based resonant cavity includes a first dielectric substance having a first dielectric permittivity, a plurality of second dielectric substances having a second dielectric permittivity and arranged in a first periodic structure with respect to at least one or more directions on a plane formed of the first dielectric substance, a plurality of third dielectric substances having a third dielectric permittivity and arranged in a second periodic structure with respect to at least one or more directions on the plane formed of the first dielectric substance, and disposed in unit cells formed by the plurality of second dielectric substances so as to be arranged in a third periodic structure together with the plurality of second dielectric substances, and one or more local defects formed to disrupt either the first periodic structure formed by the second dielectric substances or the second periodic structure formed by the third dielectric substances.
摘要翻译：基于光子晶体的谐振腔包括具有第一介电常数的第一电介质物质，具有第二介电常数的多个第二电介质物质，并且相对于至少一个或多个方向以第一周期性结构布置在由所述第一电介质物质，具有第三介电常数的多个第三电介质物质，并且在由所述第一电介质形成的平面上相对于所述至少一个以上的方向配置在第二周期性结构中，多个第二电介质物质与多个第二电介质物质一起被布置在第三周期性结构中，并且形成一个或多个局部缺陷，以破坏形成的第二电介质或第二周期性结构形成的第一周期性结构由第三介电物质。

6. 发明授权

US07916932B2 Method and system of structural light-based 3D depth imaging using signal separation coding and error correction thereof 有权
标题翻译：使用信号分离编码和误差校正的基于结构光的3D深度成像的方法和系统
公开(公告)号：US07916932B2
公开(公告)日：2011-03-29
申请号：US11276126
申请日：2006-02-15
申请人： Suk-Han Lee , Jong-Moo Choi , Dae-Sik Kim , Seung-Sub Oh
发明人： Suk-Han Lee , Jong-Moo Choi , Dae-Sik Kim , Seung-Sub Oh
IPC分类号： G06K9/00 , G01B11/30 , G01B11/24 , G03B21/26 , G03B21/14
CPC分类号： G06K9/2036 , G01B11/2513 , G06T7/521
摘要： A 3D depth imaging method and system are disclosed. The 3D depth imaging method involves radiating light at a measurement target object using a projection means and imaging the light using an image receiving means, and includes the steps of assigning a unique transmitting side address to a signal corresponding to each pixel of the projection means to encode the signal; projecting multiple light patterns at the projection means to transmit the signal; receiving the encoded signal at the image receiving means; separating the received signal to restore the address; and determining a pixel position of the object using the transmitting side address and the restored address. With the 3D depth imaging method and system, it is possible to exactly separate signals received by the image receiving means even when the signals are overlap and the geometrical structure of the object varies, and it is also possible to obtain a depth image that is robust against ambient environmental noise.
摘要翻译：公开了3D深度成像方法和系统。 3D深度成像方法包括使用投影装置在测量对象物体处照射光，并使用图像接收装置对光进行成像，并且包括以下步骤：将唯一的发送侧地址分配给与投影装置的每个像素相对应的信号，对信号进行编码; 在投影装置处投影多个光图案以发射信号; 在图像接收装置处接收编码信号; 分离接收到的信号以恢复地址; 以及使用所述发送侧地址和恢复的地址来确定所述对象的像素位置。利用3D深度成像方法和系统，即使当信号重叠并且对象的几何结构变化时，也可以精确地分离由图像接收装置接收的信号，并且还可以获得鲁棒的深度图像防止环境噪音。

7. 发明授权

US07484833B2 Droplet ejector and ink-jet printhead using the same 有权
标题翻译：液滴喷射器和喷墨打印头使用相同的
公开(公告)号：US07484833B2
公开(公告)日：2009-02-03
申请号：US10760276
申请日：2004-01-21
申请人： Min-soo Kim , Suk-han Lee , Yong-soo Oh , Keon Kuk , Seung-joo Shin
发明人： Min-soo Kim , Suk-han Lee , Yong-soo Oh , Keon Kuk , Seung-joo Shin
IPC分类号： B41J2/04 , B41J2/05 , B41J2/045
CPC分类号： B41J2/14
摘要： In a droplet ejector and an ink-jet printhead using the same, the droplet ejector includes a fluid path through which a fluid moves, a nozzle being formed on one end of the fluid path, a volumetric structure formed in the fluid path, the volumetric structure being sensitive to an external stimulus and being capable of varying in size to eject a droplet of the fluid through the nozzle, and a stimulus generator, which applies a stimulus to the volumetric structure to vary a size of the volumetric structure.
摘要翻译：在使用其的液滴喷射器和喷墨打印头中，液滴喷射器包括流体移动的流体路径，形成在流体路径的一端上的喷嘴，形成在流体路径中的体积结构，体积结构对外部刺激敏感，并且能够改变尺寸以通过喷嘴喷射流体的液滴;以及刺激发生器，其将刺激施加到体积结构以改变体积结构的尺寸。

8. 发明申请

US20080243305A1 Central information processing system and method for service robot having layered information structure according to recognition and reasoning level 有权
标题翻译：中央信息处理系统和服务机器人方法根据识别和推理水平分层信息结构
公开(公告)号：US20080243305A1
公开(公告)日：2008-10-02
申请号：US12076893
申请日：2008-03-25
申请人： Suk Han Lee , Yeon Chool Park , Joon Young Park , Jun Hee Lee
发明人： Suk Han Lee , Yeon Chool Park , Joon Young Park , Jun Hee Lee
IPC分类号： B25J13/08 , G05B19/042
CPC分类号： B25J9/1602
摘要： Provided are a central information processing system and a method for a service robot. The system includes a broker unit including at least one of interfaces for analyzing an information request from a corresponding service robot, transforming a format of the requested information to a robot-readable format, and transmitting the transformed information to the service robot, a spatial information manager for hierarchically composing and storing spatial information according to a recognition/reasoning level, searching spatial information requested by the broker unit, and returning the searched spatial information, an object information manager for hierarchically composing and storing object information about objects according to a recognition/reasoning level, searching object information requested by the broker unit, and returning the searched object information, and a space and object reasoning unit for searching and reasoning upper layer information about the object or space using lower layer information obtained from real environment or object, or searching and reasoning lower layer information to be used for comprehension of the object or space from upper layer information.
摘要翻译：提供了一种用于服务机器人的中央信息处理系统和方法。该系统包括代理单元，其包括用于分析来自相应的服务机器人的信息请求的接口中的至少一个，将所请求的信息的格式变换为机器人可读格式，以及将经变换的信息发送到服务机器人，空间信息管理器，用于根据识别/推理级别层次地组合和存储空间信息，搜索代理单元请求的空间信息，并返回搜索到的空间信息;对象信息管理器，用于根据识别/推理级别对识别/ 推理等级，搜索代理单元请求的对象信息，并返回搜索到的对象信息;以及空间和对象推理单元，用于使用从真实环境或对象获得的下层信息来搜索和推理关于对象或空间的上层信息，或搜索和推理 g用于从上层信息理解对象或空间的较低层信息。

9. 发明授权

US07264337B2 Ink ejecting method and ink-jet printhead utilizing the method 失效
标题翻译：喷墨方法和使用该方法的喷墨打印头
公开(公告)号：US07264337B2
公开(公告)日：2007-09-04
申请号：US10757391
申请日：2004-01-15
申请人： You-seop Lee , Suk-han Lee , Yong-soo Oh , Seung-joo Shin
发明人： You-seop Lee , Suk-han Lee , Yong-soo Oh , Seung-joo Shin
IPC分类号： B41J2/06
CPC分类号： B41J2/06 , B41J2/14
摘要： A method of ejecting ink from a ink-jet printhead includes filling a rear end of a nozzle with ink using a capillary force, the rear end of the nozzle being surrounded by a hydrophilic layer, forming an electric field directed toward an outlet of the nozzle on a front end of the nozzle, the front end of the nozzle being surrounded by a hydrophobic layer, varying a surface tension of ink to separate ink droplets having a predetermined volume from ink and to move the separated ink droplets within the front end of the nozzle toward the outlet of the nozzle, and ejecting the separated ink droplets through the outlet of the nozzle.
摘要翻译：从喷墨打印头喷射墨水的方法包括使用毛细管力使墨水的后端填充墨水，喷嘴的后端由亲水层包围，形成指向喷嘴出口的电场在喷嘴的前端，喷嘴的前端由疏水层包围，改变油墨的表面张力以将具有预定体积的油墨从油墨中分离出来，并将分离出的墨滴移动到喷墨头的前端喷嘴朝向喷嘴的出口，并且通过喷嘴的出口喷射分离的墨滴。

10. 发明授权

US07064886B2 Light regulating device and photonic crystal display utilizing photonic bandgap controls 有权
标题翻译：光调节装置和利用光子带隙控制的光子晶体显示器
公开(公告)号：US07064886B2
公开(公告)日：2006-06-20
申请号：US10626881
申请日：2003-07-25
申请人： Il-kwon Moon , Suk-han Lee , Hong-seok Lee , Ji-deog Kim
发明人： Il-kwon Moon , Suk-han Lee , Hong-seok Lee , Ji-deog Kim
IPC分类号： G02F1/00 , G02F1/03 , G02F1/1335
CPC分类号： G02F1/01 , G02F2202/32
摘要： A light regulating device and photonic crystal display device utilizing bandgap controls including a photonic crystal including a material that is capable of varying its refractive index in accordance with an electric field, the photonic crystal having a photonic bandgap in a specific frequency range; and an upper transparent electrode and a lower transparent electrode arranged on an upper side and a lower side of the photonic crystal, respectively, to which a voltage is applied, wherein a size of the photonic bandgap of the photonic crystal is controlled by the voltage applied between the upper transparent electrode and the lower transparent electrode. With the present invention, a reflection-type or penetration-type display is available which has a simple pixel structure, a high light efficiency, and a high color contrast ratio, the display using high reflection factors depending on color ranges of a photonic crystal.
摘要翻译：一种调光装置和光子晶体显示装置，利用带隙控制装置，包括光子晶体，其包括能够根据电场改变其折射率的材料，所述光子晶体在特定频率范围内具有光子带隙; 以及分别设置在其上施加电压的光子晶体的上侧和下侧的上透明电极和下透明电极，其中光子晶体的光子带隙的大小由施加的电压控制在上透明电极和下透明电极之间。根据本发明，可以使用具有简单像素结构，高光效率和高对比度比的反射型或穿透式显示器，该显示器使用高光反射系数，取决于光子晶体的颜色范围。

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