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1. 发明授权

US06816802B2 Object growth control system and method 有权
标题翻译：对象增长控制系统和方法
公开(公告)号：US06816802B2
公开(公告)日：2004-11-09
申请号：US10287679
申请日：2002-11-05
申请人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
发明人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
IPC分类号： G06F1900
CPC分类号： G06N3/004
摘要： An object growth control system and method are provided. The object growth control system includes a weighting unit, a growth state analyzer, and an object operation controller. The weighting unit detects external environments and a user's state, loads weights on predetermined user emotional states, predetermined object growth tendencies, and predetermined object emotional states according to the result of detection and the user's tendency, and outputs the results of loading of the weights as state data. The growth state analyzer applies a predetermined statistical model to the state data input for a predetermined period to analyze the user's tendency and outputs a degree of education on the object with respect to the user's tendency based on the state data to which the predetermined statistical model has been applied. The object operation controller applies a predetermined rule-based or statistical model to the state data and the degree of education to generate a control signal for controlling the operation of the object.
摘要翻译：提供了一种物体生长控制系统和方法。对象增长控制系统包括加权单元，增长状态分析器和对象操作控制器。加权单元根据检测结果和用户倾向检测外部环境和用户状态，加载预定用户情绪状态的权重，预定对象增长趋势和预定对象情绪状态，并将权重的加载结果输出为状态数据。生长状态分析器将预定的统计模型应用于预定时段的状态数据输入，以分析用户的趋势，并基于预定统计模型具有的状态数据，输出关于用户倾向的对象的教育程度已被应用。对象操作控制器对状态数据和教育程度应用预定的基于规则的或统计模型，以产生用于控制对象的操作的控制信号。

2. 发明授权

US07547279B2 System and method for recognizing user's emotional state using short-time monitoring of physiological signals 失效
标题翻译：用生理信号短时间监测识别用户情绪状态的系统和方法
公开(公告)号：US07547279B2
公开(公告)日：2009-06-16
申请号：US10348976
申请日：2003-01-23
申请人： Kyung-hwan Kim , Seok-won Bang , Dong-geon Kong
发明人： Kyung-hwan Kim , Seok-won Bang , Dong-geon Kong
IPC分类号： A61B5/00
CPC分类号： A61B5/02405 , A61B5/0002 , A61B5/16 , A61B5/7264 , A61B5/7267 , Y10S128/92
摘要： Disclosed is an emotion recognition apparatus and method thereof which enables perception of a user's emotional state by monitoring one or more of his or her physiological signals. The emotion recognition apparatus comprises a feature analyzer adapted to analyze features of the physiological signals acquired from a user and generate feature values, a subtractor adapted to obtain differences between the feature values generated by the feature analyzer and feature values used as a standard to perceive an emotional state of the user, and an emotion classifier adapted to analyze the differences obtained by the subtractor and classify an emotion into a plurality of emotional categories so as to perceive an emotional category exhibiting the greatest intensity to be the emotional state of the user.
摘要翻译：公开了一种情感识别装置及其方法，其通过监视他或她的生理信号中的一个或多个能够感知用户的情绪状态。情感识别装置包括适于分析从用户获取的生理信号的特征并产生特征值的特征分析器，适于获得由特征分析器生成的特征值与用作标准的特征值之间的差异的减法器，用户的情绪状态，以及适于分析由减法器获得的差异并将情感分类为多个情感类别以便感知呈现最大强度的情感类别成为用户情感状态的情感分类器。

3. 发明申请

US20070190940A1 System and method for human body communication 有权
标题翻译：人体通讯系统与方法
公开(公告)号：US20070190940A1
公开(公告)日：2007-08-16
申请号：US11517393
申请日：2006-09-08
申请人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
发明人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
IPC分类号： H04B5/00 , H04B7/00
CPC分类号： H04B5/0012 , H04B13/005 , Y02D70/144 , Y02D70/42
摘要： A human body communication system. The human body communication system includes a controlled device measuring a capacitance that corresponds to the distance to a human body, and transmitting information on the measured capacitance through a wireless medium; and a control device receiving the information, and then, based on the information, determining a transmission power and, with the determined transmission power, transmitting a control command of a user to the controlled device using the human body as a medium.
摘要翻译：人体通讯系统人体通信系统包括测量对应于人体距离的电容的受控设备，以及通过无线介质发送关于所测量电容的信息; 以及接收信息的控制装置，然后基于该信息，确定发送功率，并且利用所确定的发送功率，使用人体作为媒体将用户的控制命令发送到被控制装置。

4. 发明授权

US07725089B2 System and method for human body communication 有权
标题翻译：人体通讯系统与方法
公开(公告)号：US07725089B2
公开(公告)日：2010-05-25
申请号：US11517393
申请日：2006-09-08
申请人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
发明人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
IPC分类号： H04B1/18
CPC分类号： H04B5/0012 , H04B13/005 , Y02D70/144 , Y02D70/42
摘要： A human body communication system. The human body communication system includes a controlled device measuring a capacitance that corresponds to the distance to a human body, and transmitting information on the measured capacitance through a wireless medium; and a control device receiving the information, and then, based on the information, determining a transmission power and, with the determined transmission power, transmitting a control command of a user to the controlled device using the human body as a medium.
摘要翻译：人体通讯系统人体通信系统包括测量对应于人体距离的电容的受控设备，以及通过无线介质发送关于所测量电容的信息; 以及接收信息的控制装置，然后基于该信息，确定发送功率，并且利用所确定的发送功率，使用人体作为媒体将用户的控制命令发送到被控制装置。

5. 发明授权

US07333969B2 Apparatus and method for synthesizing emotions based on the human nervous system 有权
标题翻译：基于人类神经系统综合情感的装置和方法
公开(公告)号：US07333969B2
公开(公告)日：2008-02-19
申请号：US10265259
申请日：2002-10-07
申请人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee
发明人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G06F9/455
CPC分类号： G06N3/004
摘要： Disclosed is a nervous system-based emotion synthesizing apparatus which enables an emotion of a humanoid to be synthesized in a manner similar to that of a human using a nervous system-adjusting mechanism of a human body according to emotions. The human nervous system-based emotion synthesizing apparatus, includes a stimulus sensor portion having at least a stimulus sensor for sensing an external stimulus, an emotion generator for generating an predetermined emotion corresponding to the sensed external stimulus, a physiological signal generator for generating at least one artificial physiological signal in response to the sensed stimulus and the generated emotion, and an emotional behavior generator for generating at least one emotional behavior through a predetermined physical reaction in response to the sensed stimulus and the generated emotion, whereby the generated artificial physiological signal is fed back to the emotion generator and the emotional behavior generator, and the generated emotional behavior is fed back to the emotion generator and the physiological signal generator so that the emotion, the artificial physiological signal and the emotional behavior are combined to produce and express a complex emotion.
摘要翻译：公开了一种基于神经系统的情感合成装置，其能够以类似于使用人体的神经系统调节机构的人的情绪类似于人的方式来合成人形象的情感。基于人类神经系统的情感合成装置包括至少具有用于感测外部刺激的刺激传感器的刺激传感器部分，用于产生对应于感测到的外部刺激的预定情绪的情绪发生器，用于产生至少响应于所感测的刺激和所产生的情感的一个人造生理信号，以及一个情感行为发生器，用于响应于所感测到的刺激和所产生的情绪，通过预定的物理反应产生至少一种情感行为，由此所产生的人造生理信号是反馈给情绪发生器和情绪行为发生器，并将所产生的情绪行为反馈给情绪发生器和生理信号发生器，使情绪，人工生理信号和情感行为相结合，产生和表达复合体情感。

6. 发明申请

US20110224824A1 ROBOT LOCALIZATION SYSTEM 审中-公开
标题翻译：机器人本地化系统
公开(公告)号：US20110224824A1
公开(公告)日：2011-09-15
申请号：US13113790
申请日：2011-05-23
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： B25J13/08
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，当发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

7. 发明授权

US07970491B2 Robot localization system 有权
标题翻译：机器人定位系统
公开(公告)号：US07970491B2
公开(公告)日：2011-06-28
申请号：US10747228
申请日：2003-12-30
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： G06F19/00 , G05B13/02 , B60T7/16
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，其在发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

8. 发明授权

US06656116B2 Apparatus and method for perceiving physical and emotional state 有权
公开(公告)号：US06656116B2
公开(公告)日：2003-12-02
申请号：US09931767
申请日：2001-08-20
申请人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
发明人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
IPC分类号： A61B500
CPC分类号： G06F3/011 , A61B5/0008 , A61B5/01 , A61B5/0205 , A61B5/0816 , A61B5/1455 , A61B5/16 , A61B5/441 , G06F2203/011
摘要： An apparatus and method for perceiving a physical and emotional state, which allows easy attachment to and detachment from a human body, and through which a bio-signal is simply detected, are provided. The apparatus includes a bio-signal detection part attached to a predetermined portion of a body for performing analog signal processing on at least one bio-signal detected from the body and outputting the processed bio-signal, and a bio-signal recognizing part for performing digital signal processing on the processed bio-signal received from the bio-signal detection part, perceiving the physical and emotional state from the result of the digital signal processing, and representing the physical and emotional state. Accordingly, the apparatus can be conveniently attached to a predetermined portion of a user's body, a bio-signal transmitted wirelessly or through a wire can be easily detected, a physical and emotional state which is perceived based on the detected bio-signal can be reported to the user, and a rapidly changing emotional state or an emotional state which remains for a long time can be perceived in real time.

9. 发明申请

US20120029698A1 METHOD, APPARATUS, AND MEDIUM FOR ESTIMATING POSE OF MOBILE ROBOT USING PARTICLE FILTER 有权
标题翻译：使用颗粒过滤器估算移动机器人的方法，装置和介质
公开(公告)号：US20120029698A1
公开(公告)日：2012-02-02
申请号：US13269027
申请日：2011-10-07
申请人： Hyeon MYEONG , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
发明人： Hyeon MYEONG , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
IPC分类号： B25J9/18
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274 , G05D2201/0203
摘要： Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor.
摘要翻译：公开了一种用于估计使用粒子滤波器的移动机器人姿态的方法，装置和介质。根据本发明的实施例的用于估计使用粒子滤波器的移动机器人的姿势的方法包括：通过将检测到的姿势变化应用于前一个的姿势，来检测移动机器人的姿势变化并计算当前粒子的姿态粒子，根据由传感器获得的范围数据和地图信息，预测当前粒子的姿态的概率并获得当前粒子的权重，基于权重对当前粒子进行重采样，并且调整权重考虑传感器的误差。

10. 发明授权

US07679997B2 Method and apparatus for estimating position of robot 有权
标题翻译：用于估计机器人位置的方法和装置
公开(公告)号：US07679997B2
公开(公告)日：2010-03-16
申请号：US11808001
申请日：2007-06-05
申请人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
发明人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
IPC分类号： G01S3/80
CPC分类号： G01S5/26 , G01S11/16
摘要： A method and apparatus estimating a position of a moving robot are provided. The method includes receiving a primary signal and a secondary signal transmitted from a predetermined signal transmitter using a sensor, on a moving robot, that receives the primary signal and three or more sensors that receive the secondary signal; calculating a transmission distance from a sensor that receives the secondary signal using time information extracted from the primary signal; and calculating a position of the signal transmitter from the distance, wherein the secondary signal comprises first and second secondary signals and each sensor that senses the secondary signal determines whether to amplify the second secondary signal based on the result of the measurement of the first secondary signal.
摘要翻译：提供了估计移动机器人的位置的方法和装置。该方法包括：在运动的机器人上接收主信号和从接收次级信号的三个或更多个传感器的使用传感器的预定信号发射器发送的主信号和次信号; 使用从所述主信号提取的时间信息计算从接收所述辅助信号的传感器的传输距离; 以及从所述距离计算所述信号发射机的位置，其中所述辅助信号包括第一和第二辅助信号，并且感测所述次级信号的每个传感器基于所述第一辅助信号的测量结果来确定是否放大所述第二辅助信号。

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