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1. 发明授权

US08769488B2 Component composing apparatus and method using virtual components in component-based robot software development 有权
标题翻译：在基于组件的机器人软件开发中使用虚拟组件的组件编组设备和方法
公开(公告)号：US08769488B2
公开(公告)日：2014-07-01
申请号：US13595256
申请日：2012-08-27
申请人： Choulsoo Jang , Byoung Youl Song , Seung-Woog Jung , Sung Hoon Kim
发明人： Choulsoo Jang , Byoung Youl Song , Seung-Woog Jung , Sung Hoon Kim
IPC分类号： G06F9/44
CPC分类号： G05B19/0426 , G05B2219/23389 , G06F8/36
摘要： A component composing apparatus using virtual components in component-based robot software development, includes a component repository configured to store a plurality of components having at least one port; and an application diagram generation unit configured to create an application diagram by selecting the components stored in the component repository. Further, the component composing apparatus includes an information repository configured to store the components within the application diagram and port information of the components within the application diagram and port connection information between the components within the application diagram; and a virtual component processing unit configured to create the virtual components for components selected by a user among the components within the application diagram.
摘要翻译：在基于组件的机器人软件开发中使用虚拟组件的组件组合装置包括被配置为存储具有至少一个端口的多个组件的组件存储库; 以及应用图生成单元，被配置为通过选择存储在所述组件存储库中的组件来创建应用图。此外，组件合成装置包括：信息库，被配置为将应用图中的组件和应用图内的组件的端口信息和应用图中的组件之间的端口连接信息进行存储; 以及虚拟部件处理单元，被配置为为应用图中的组件中的用户选择的组件创建虚拟组件。

2. 发明授权

US08681025B2 Data encoding and decoding apparatus and method for communicating between robot softwares 失效
标题翻译：用于在机器人软件之间通信的数据编码和解码装置和方法
公开(公告)号：US08681025B2
公开(公告)日：2014-03-25
申请号：US13611468
申请日：2012-09-12
申请人： Byoung Youl Song , Choulsoo Jang , Seung-Woog Jung , Sung Hoon Kim
发明人： Byoung Youl Song , Choulsoo Jang , Seung-Woog Jung , Sung Hoon Kim
IPC分类号： H03M7/34
CPC分类号： H03M7/707
摘要： A data encoding apparatus for communicating between robot softwares includes a meta structure converter factory configured to allow one or more meta structure converters generated based on an information file, and if a type of user data for encoding is a structure or a structure array, select a meta structure converter, operable to convert a structure of the user data into a meta structure, from among the registered meta structure converters; an encoder factory configured to allow encoders for respective types of data to be registered, and to select an encoder from among the registered encoders in order to encode the user data to be encoded; and an encoder unit configured to encode the user data to be encoded using the meta structure generated by the selected meta structure converter and the encoder.
摘要翻译：用于在机器人软件之间进行通信的数据编码装置包括：元结构转换器工厂，被配置为允许基于信息文件生成的一个或多个元结构转换器，并且如果用于编码的用户数据的类型是结构或结构数组，则选择元结构转换器，用于将登记的元结构转换器中的用户数据的结构转换成元结构; 编码器工厂被配置为允许编码器针对各种类型的数据进行登记，并从注册的编码器中选择一个编码器，以编码要编码的用户数据; 以及编码器单元，被配置为使用由所选择的元结构转换器和编码器生成的元结构对要编码的用户数据进行编码。

3. 发明授权

US08464218B2 Method port arrangement and configuration method thereof for robot software component 有权
标题翻译：机器人软件组件的方法端口布置及其配置方法
公开(公告)号：US08464218B2
公开(公告)日：2013-06-11
申请号：US12613990
申请日：2009-11-06
申请人： Byoung Youl Song , Seung-Woog Jung , Choul Soo Jang , Sung Hoon Kim , Hyun Kyu Cho
发明人： Byoung Youl Song , Seung-Woog Jung , Choul Soo Jang , Sung Hoon Kim , Hyun Kyu Cho
IPC分类号： G06F9/44 , G06F3/00
CPC分类号： G06F9/465
摘要： A configuration method of a method port arrangement for robot software component includes: generating a requester method port module and a provider method port module; generating a requester method module and a provider method module depending on application of a method module to be generated in the component; registering the requester method module in the requester method port module and the provider method module in the provider method port module; and registering, in a method port management module, the requester method port module and the provider method port module where the requester method module and the provider method module have been registered. The method further includes establishing the requester method port module to be operated by interconnecting the requester method port module and the provider method port module; and executing input and output operations to/from the requester method port or the provider method port depending on application of the component.
摘要翻译：机器人软件组件的方法端口配置的配置方法包括：生成请求方方法端口模块和提供方方式端口模块; 根据要在组件中生成的方法模块的应用，生成请求者方法模块和提供者方法模块; 在请求方方法端口模块和提供者方法端口模块中的提供者方法模块中注册请求方方法模块; 并且在方法端口管理模块中注册请求方方法端口模块和提供者方法端口模块，其中请求方方法模块和提供者方法模块已被注册。该方法还包括建立请求者方法端口模块，通过将请求方方法端口模块和提供者方法端口模块互连来进行操作; 并根据组件的应用程序向/从请求方方法端口或提供方方法端口执行输入和输出操作。

4. 发明授权

US08332069B2 Fault tolerance method and apparatus for robot software component 有权
标题翻译：机器人软件组件的容错方法和装置
公开(公告)号：US08332069B2
公开(公告)日：2012-12-11
申请号：US12843513
申请日：2010-07-26
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
IPC分类号： G06F19/00
CPC分类号： G06F11/1482 , G06F11/1438
摘要： An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
摘要翻译：用于对在驱动机器人软件组件期间发生的故障执行容错的装置包括：用于执行机器人软件组件的组件执行器，其通过使用所分配的线程从操作系统分配一个线程并具有相同的优先级和周期 ; 以及执行器监视器，用于周期性地监视组件执行器的操作并确定组件执行器执行的机器人软件组件是否存在故障。该装置还包括：执行器管理器，用于生成被分配有具有相同优先级和周期的机器人软件组件的组件执行器，并且当执行器监视器确定执行机器人软件组件时出现故障时，生成新组件执行器。

5. 发明申请

US20100161836A1 METHOD PORT ARRANGEMENT AND CONFIGURATION METHOD THEREOF FOR ROBOT SOFTWARE COMPONENT 有权
标题翻译：机器人软件组件的方法端口布置及其配置方法
公开(公告)号：US20100161836A1
公开(公告)日：2010-06-24
申请号：US12613990
申请日：2009-11-06
申请人： Byoung Youl SONG , Seung-Woog Jung , Choul Soo Jang , Sung Hoon Kim , Hyun Kyu Cho
发明人： Byoung Youl SONG , Seung-Woog Jung , Choul Soo Jang , Sung Hoon Kim , Hyun Kyu Cho
IPC分类号： G06F13/20 , G06F9/54
CPC分类号： G06F9/465
摘要： A configuration method of a method port arrangement for robot software component includes: generating a requester method port module and a provider method port module; generating a requester method module and a provider method module depending on application of a method module to be generated in the component; registering the requester method module in the requester method port module and the provider method module in the provider method port module; and registering, in a method port management module, the requester method port module and the provider method port module where the requester method module and the provider method module have been registered. The method further includes establishing the requester method port module to be operated by interconnecting the requester method port module and the provider method port module; and executing input and output operations to/from the requester method port or the provider method port depending on application of the component.
摘要翻译：机器人软件组件的方法端口配置的配置方法包括：生成请求方方法端口模块和提供方方式端口模块; 根据要在组件中生成的方法模块的应用，生成请求者方法模块和提供者方法模块; 在请求方方法端口模块和提供者方法端口模块中的提供者方法模块中注册请求方方法模块; 并且在方法端口管理模块中注册请求方方法端口模块和提供者方法端口模块，其中请求方方法模块和提供者方法模块已被注册。该方法还包括建立请求者方法端口模块，通过将请求方方法端口模块和提供者方法端口模块互连来进行操作; 并根据组件的应用程序向/从请求方方法端口或提供者方法端口执行输入和输出操作。

6. 发明授权

US08689217B2 System and method for thread processing robot software components responsive to periodic, dedicated, and passive modes 失效
标题翻译：线程处理机器人软件组件的系统和方法，响应周期性，专用模式和被动模式
公开(公告)号：US08689217B2
公开(公告)日：2014-04-01
申请号：US12494819
申请日：2009-06-30
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim
IPC分类号： G06F9/455 , G06F9/46
CPC分类号： B25J9/1602 , G05B2219/23219 , G05B2219/23389 , G05B2219/39381 , G06F9/485
摘要： An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.
摘要翻译：一种用于线程处理机器人软件组件的装置包括：数据端口单元，用于将输入数据存储在缓冲器中，然后以周期性执行模式或专用执行模式处理数据; 用于处理被动执行模式中的输入事件的事件端口单元; 以及方法端口单元，用于通过调用与方法调用相对应的用户定义的方法来处理被动执行模式中的输入方法调用。在周期性执行模式中，根据相应组件的周期通过使用执行线程处理数据。在专用执行模式下，创建用于数据的专用线程，并使用专用线程处理数据。

7. 发明申请

US20100168911A1 METHOD AND APPARATUS FOR MANAGING ROBOT COMPONENTS 审中-公开
标题翻译：管理机器人组件的方法和装置
公开(公告)号：US20100168911A1
公开(公告)日：2010-07-01
申请号：US12558787
申请日：2009-09-14
申请人： Seung-Woog Jung , Choul Soo Jang , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim
发明人： Seung-Woog Jung , Choul Soo Jang , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim
IPC分类号： G06F19/00 , G05B15/00
CPC分类号： B25J9/1658
摘要： An apparatus for managing robot components in an intelligent robot includes a robot application including a plurality of robot components, a robot application management tool that manages the operation of the robot application, monitors the status caused by the operations of the robot application and information on the robot components, a lifecycle manager that manages lifecycles of the robot components under the management of the robot application management tool, and an operation system that transfers a sensing signal about peripheral environment generated from the sensor to the robot application, and transfers an execution signal from the robot application to the actuator.
摘要翻译：用于管理智能机器人中的机器人部件的装置包括：包括多个机器人部件的机器人应用，管理机器人应用的操作的机器人应用管理工具，监视由机器人应用的操作引起的状态以及关于机器人应用的信息机器人组件，在机器人应用管理工具的管理下管理机器人组件的生命周期的生命周期管理器，以及将从传感器产生的外围环境的感测信号传送到机器人应用的操作系统，并将执行信号从机器人应用于执行机构。

8. 发明申请

US20110153073A1 FAULT TOLERANCE METHOD AND APPARATUS FOR ROBOT SOFTWARE COMPONENT 有权
标题翻译：机器人软件组件的容错方法和装置
公开(公告)号：US20110153073A1
公开(公告)日：2011-06-23
申请号：US12843513
申请日：2010-07-26
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
IPC分类号： G06F19/00
CPC分类号： G06F11/1482 , G06F11/1438
摘要： An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
摘要翻译：用于对在驱动机器人软件组件期间发生的故障执行容错的装置包括：用于执行机器人软件组件的组件执行器，其通过使用所分配的线程从操作系统分配一个线程并具有相同的优先级和周期 ; 以及执行器监视器，用于周期性地监视组件执行器的操作并确定组件执行器执行的机器人软件组件是否存在故障。该装置还包括：执行器管理器，用于生成被分配有具有相同优先级和周期的机器人软件组件的组件执行器，并且当执行器监视器确定执行机器人软件组件时出现故障时，生成新组件执行器。

9. 发明申请

US20100115524A1 SYSTEM AND METHOD FOR THREAD PROCESSING ROBOT SOFTWARE COMPONENTS 失效
标题翻译：用于螺纹加工机器人软件组件的系统和方法
公开(公告)号：US20100115524A1
公开(公告)日：2010-05-06
申请号：US12494819
申请日：2009-06-30
申请人： Choul Soo JANG , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim
发明人： Choul Soo JANG , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim
IPC分类号： G06F9/46 , G05B19/02
CPC分类号： B25J9/1602 , G05B2219/23219 , G05B2219/23389 , G05B2219/39381 , G06F9/485
摘要： An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.
摘要翻译：一种用于线程处理机器人软件组件的装置包括：数据端口单元，用于将输入数据存储在缓冲器中，然后以周期性执行模式或专用执行模式处理数据; 用于处理被动执行模式中的输入事件的事件端口单元; 以及方法端口单元，用于通过调用与方法调用相对应的用户定义的方法来处理被动执行模式中的输入方法调用。在周期性执行模式中，根据相应组件的周期通过使用执行线程处理数据。在专用执行模式下，创建用于数据的专用线程，并使用专用线程处理数据。

10. 发明申请

US20100316039A1 APPARATUS AND METHOD FOR GENERATING RANGING CODE 审中-公开
标题翻译：用于生成范围代码的装置和方法
公开(公告)号：US20100316039A1
公开(公告)日：2010-12-16
申请号：US12793832
申请日：2010-06-04
申请人： Yoon Ju LEE , Sung Hoon Kim , Jihyung Kim , Beom-Su Seo , Kyeong Ho Lee , Joong Bae Kim , Myung Chan Roh , Choul Soo Jang , Seung-Woog Jung , Seung-Ik Lee , Joong-Ki Park , Chul-Hee Han
发明人： Yoon Ju LEE , Sung Hoon Kim , Jihyung Kim , Beom-Su Seo , Kyeong Ho Lee , Joong Bae Kim , Myung Chan Roh , Choul Soo Jang , Seung-Woog Jung , Seung-Ik Lee , Joong-Ki Park , Chul-Hee Han
IPC分类号： H04B7/216 , H04L27/28
CPC分类号： H04J13/10 , H04J13/0022
摘要： An apparatus for generating a ranging code extracts a ranging code in each ranging mode, using a ranging code table storing one period data in bytes of the PN code according to a reference UL PermBase number, and an offset table that stores byte offsets for the start positions of the PN codes of the reference UL PermBase number and the other plurality of UL PermBase numbers and bit offsets in the byte including the start positions, on the basis of the PN code according to the reference UL PermBase number.
摘要翻译：一种用于生成测距码的装置，使用根据参考UL PermBase号存储PN码的一个周期数据（以字节为单位）的测距码表和存储用于开始的字节偏移的偏移表，在每个测距模式中提取测距码基于根据参考UL PermBase号的PN码，参考UL PermBase号和其它多个UL PermBase号和包括起始位置的字节中的位偏移的PN码的位置。

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