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11. 发明授权

US07996113B2 Methods of integrating real and virtual world using virtual sensor/actuator 有权
标题翻译：使用虚拟传感器/执行器整合真实世界和虚拟世界的方法
公开(公告)号：US07996113B2
公开(公告)日：2011-08-09
申请号：US12237944
申请日：2008-09-25
申请人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
发明人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
IPC分类号： G05B15/00
CPC分类号： G05B19/41885 , G05B2219/31078 , G05B2219/39014 , G05B2219/40288 , Y02P90/083 , Y02P90/26
摘要： An integrated real and virtual manufacturing automation system that employs a programmable logic controller that controls part flow between a real machine in the real world part of the system and a virtual machine in the virtual world part of the system using virtually coupled sensors and actuators. A real world sensor senses the position of the real world machine and a real world actuator actuates the real world machine. Likewise, a virtual world sensor senses the position of the virtual world machine and a virtual world actuator actuates the virtual world machine. An interface device transfers signals between the virtual world part of the system and the real world part of the system, and an input/output device processes signals sent to the programmable logic controller and signals sent from the programmable logic controller.
摘要翻译：一个集成的真实和虚拟制造自动化系统，其使用可编程逻辑控制器来控制系统的真实世界中的真实机器之间的部分流程，以及使用虚拟耦合的传感器和执行器的虚拟世界中的虚拟机部分。一个现实世界的传感器感知现实世界的机器的位置，一个现实的执行器致动现实世界的机器。同样，虚拟世界传感器感测虚拟世界机器的位置，虚拟世界执行器致动虚拟世界机器。接口设备在系统的虚拟世界部分和系统的真实世界部分之间传送信号，并且输入/输出设备处理发送到可编程逻辑控制器的信号和从可编程逻辑控制器发送的信号。

12. 发明授权

US07899761B2 System and method for signal prediction 有权
标题翻译：信号预测系统和方法
公开(公告)号：US07899761B2
公开(公告)日：2011-03-01
申请号：US11113962
申请日：2005-04-25
申请人： Shubha Kadambe , Leandro G. Barajas , Youngkwan Cho , Pulak Bandyopadhyay
发明人： Shubha Kadambe , Leandro G. Barajas , Youngkwan Cho , Pulak Bandyopadhyay
IPC分类号： G06F15/18
CPC分类号： G06K9/6297 , G05B23/0232 , G06K9/6219
摘要： Disclosed herein are a system and method for trend prediction of signals in a time series using a Markov model. The method includes receiving a plurality of data series and input parameters, where the input parameters include a time step parameter, preprocessing the plurality of data series according to the input parameters, to form binned and classified data series, and processing the binned and classified data series. The processing includes initializing a Markov model for trend prediction, and training the Markov model for trend prediction of the binned and classified data series to form a trained Markov model. The method further includes deploying the trained Markov model for trend prediction, including outputting trend predictions. The method develops an architecture for the Markov model from the data series and the input parameters, and disposes the Markov model, having the architecture, for trend prediction.
摘要翻译：这里公开了使用马尔可夫模型的时间序列中的信号趋势预测的系统和方法。该方法包括接收多个数据序列和输入参数，其中输入参数包括时间步长参数，根据输入参数对多个数据序列进行预处理，以形成分类和分类数据序列，并处理分类和分类数据系列。该处理包括初始化用于趋势预测的马尔科夫模型，并训练马尔可夫模型用于仓位和分类数据序列的趋势预测，形成训练马尔可夫模型。该方法还包括部署用于趋势预测的经过训练的马尔可夫模型，包括输出趋势预测。该方法从数据系列和输入参数开发了Markov模型的架构，并将具有架构的马尔科夫模型用于趋势预测。

13. 发明申请

US20100179935A1 SPIKING DYNAMICAL NEURAL NETWORK FOR PARALLEL PREDICTION OF MULTIPLE TEMPORAL EVENTS 审中-公开
标题翻译： SPIKING动态神经网络并行预测多个时间事件
公开(公告)号：US20100179935A1
公开(公告)日：2010-07-15
申请号：US12353031
申请日：2009-01-13
申请人： NARAYAN SRINIVASA , Youngkwan Cho , Leandro G. Barajas
发明人： NARAYAN SRINIVASA , Youngkwan Cho , Leandro G. Barajas
IPC分类号： G06N3/08 , G06F15/18
CPC分类号： G06N3/049
摘要： A system and method for determining events in a system or process, such as predicting fault events. The method includes providing data from the process, pre-processing data and converting the data to one or more temporal spike trains having spike amplitudes and a spike train length. The spike trains are provided to a dynamical neural network operating as a liquid state machine that includes a plurality of neurons that analyze the spike trains. The dynamical neural network is trained by known data to identify events in the spike train, where the dynamical neural network then analyzes new data to identify events. Signals from the dynamical neural network are then provided to a readout network that decodes the states and predicts the future events.
摘要翻译：用于确定系统或过程中的事件的系统和方法，例如预测故障事件。该方法包括从该过程提供数据，预处理数据并将该数据转换成具有尖峰幅度和尖峰序列长度的一个或多个时间尖峰序列。尖峰火车被提供到作为液态状态机操作的动力学神经网络，其包括分析尖峰火车的多个神经元。动态神经网络由已知数据进行训练，以识别尖峰训练中的事件，其中动力神经网络分析新数据以识别事件。然后将来自动态神经网络的信号提供给解码状态并预测未来事件的读出网络。

14. 发明授权

US08805581B2 Procedural memory learning and robot control 有权
标题翻译：程序性记忆学习和机器人控制
公开(公告)号：US08805581B2
公开(公告)日：2014-08-12
申请号：US13400969
申请日：2012-02-21
申请人： Leandro G. Barajas , Adam M Sanders
发明人： Leandro G. Barajas , Adam M Sanders
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , G05B2219/36422 , G05B2219/39296 , G05B2219/39298
摘要： Methods and apparatus for procedural memory learning to control a robot by demonstrating a task action to the robot and having the robot learn the action according to a similarity matrix of correlated values, attributes, and parameters obtained from the robot as the robot performs the demonstrated action. Learning is done by an artificial neural network associated with the robot controller, so that the robot learns to perform the task associated with the similarity matrix. Extended similarity matrices can contain integrated and differentiated values of variables. Procedural memory learning reduces overhead in instructing robots to perform tasks. Continued learning improves performance and provides automatic compensation for changes in robot condition and environmental factors.
摘要翻译：程序记忆学习的方法和装置，通过向机器人展示任务动作并使机器人根据机器人执行所示动作的相关值，属性和参数获得的相似性矩阵来学习动作来控制机器人。学习通过与机器人控制器相关联的人造神经网络完成，使得机器人学习执行与相似性矩阵相关联的任务。扩展相似矩阵可以包含变量的积分和差分值。程序记忆学习减少了指导机器人执行任务的开销。持续学习提高性能，并为机器人状况和环境因素的变化提供自动补偿。

15. 发明授权

US08369992B2 Embedded diagnostic, prognostic, and health management system and method for a humanoid robot 有权
标题翻译：人形机器人的嵌入式诊断，预测和健康管理系统和方法
公开(公告)号：US08369992B2
公开(公告)日：2013-02-05
申请号：US12564083
申请日：2009-09-22
申请人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
发明人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
IPC分类号： G05B19/00
CPC分类号： B25J9/1674 , G05B2219/39251 , G05B2219/40264
摘要： A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.
摘要翻译：机器人系统包括具有多个柔性接头的类人形机器人，每个机器人可以使用一个或多个致动器进行移动，并且具有用于测量控制和反馈数据的传感器。分布式控制器通过多个高速通信网络控制关节和其他集成系统组件。诊断，预后和健康管理（DPHM）模块嵌入机器人内的各种控制级别。每个DPHM模块在可通过网络或外部设备访问的位置测量，控制和记录相应控制级/连接设备的DPHM数据。一种控制机器人的方法包括使用DPHM模块在每个控制级别内测量DPHM数据，并将DPHM数据记录在可访问的位置上，将多个DPHM模块嵌入分布式控制器的多个控制级别内至少一个高速通信网络。

16. 发明申请

US20100148952A1 Behavior-Based Low Fuel Warning System 有权
标题翻译：基于行为的低燃油预警系统
公开(公告)号：US20100148952A1
公开(公告)日：2010-06-17
申请号：US12333422
申请日：2008-12-12
申请人： Leandro G. Barajas
发明人： Leandro G. Barajas
IPC分类号： B60Q1/00
CPC分类号： B60R25/00
摘要： A method is provided for determining when to provide a refueling notification to a driver of a vehicle. A refueling behavior is determined for refueling the vehicle. The refueling behavior is associated at least in part to an amount of fuel customarily remaining in the vehicle when the vehicle is customarily refueled. A remaining amount of fuel in the vehicle and a fuel economy of the vehicle are determined. A distance the vehicle will travel to a next driving destination is estimated. An amount of fuel that will be used to travel to the next driving destination is estimated based on the estimated distance the vehicle will travel to the next driving destination and the fuel economy. A determination is made whether the amount of fuel that will be remaining in the vehicle after the vehicle travels to the next driving destination is less than the amount of a fuel customarily remaining in the vehicle when the vehicle is refueled. A refueling notification is actuated to a driver of a vehicle in response to the determination that the amount of fuel that will be remaining in the vehicle after the vehicle travels to the next driving destination will be less than the amount of fuel customarily remaining in the vehicle when the vehicle is refueled.
摘要翻译：提供了一种用于确定何时向车辆的驾驶员提供加油通知的方法。确定加油车辆的加油行为。加油行为至少部分地与当车辆通常加油时通常保留在车辆中的燃料量相关联。确定车辆中的剩余燃料量和车辆的燃料经济性。估计车辆行驶到下一个行驶目的地的距离。基于车辆将行驶到下一个驾驶目的地的估计距离和燃料经济性来估计用于行驶到下一个驾驶目的地的燃料量。确定在车辆行驶到下一个驾驶目的地之后车辆中剩余的燃料量是否小于当车辆加油时通常保留在车辆中的燃料的量。响应于车辆行驶到下一个驾驶目的地后剩余在车辆中的燃料量将小于车辆中常用的燃料量，确定车辆驾驶员的加油通知将被启动当车辆加油时。

17. 发明授权

US07558771B2 System and method for selection of prediction tools 有权
标题翻译：用于选择预测工具的系统和方法
公开(公告)号：US07558771B2
公开(公告)日：2009-07-07
申请号：US11448964
申请日：2006-06-07
申请人： Leandro G. Barajas , Pulak Bandyopadhyay , Guoxian Xiao
发明人： Leandro G. Barajas , Pulak Bandyopadhyay , Guoxian Xiao
IPC分类号： G06F17/00 , G06N5/02
CPC分类号： G06N99/005
摘要： A system and method for data analysis are disclosed. Data analysis may include a step of filtering the data to produce filtered data. The method may include processing a plurality of prediction algorithms to produce prediction values, the prediction values having associated historical and expected prediction confidence intervals. The method may also include evaluating performance of the prediction algorithms to generate performance indexes, the performance indexes having associated index confidence intervals. The method may also include generating relevance values of the prediction algorithms based on the performance indexes, and index confidence intervals. The method may further include applying the relevance values and prediction confidence intervals to determine how to combine prediction values, and applying multivariable data fusion to combine the prediction values. The form of output of the data analysis may be chosen from a list of output options, including predictions, reports, warnings and alarms, and other forms of reporting.
摘要翻译：公开了一种用于数据分析的系统和方法。数据分析可以包括过滤数据以产生滤波数据的步骤。该方法可以包括处理多个预测算法以产生预测值，所述预测值具有相关联的历史和预期预测置信区间。该方法还可以包括评估预测算法的性能以生成性能指标，性能指标具有相关联的索引置信区间。该方法还可以包括基于性能指标和索引置信区间来生成预测算法的相关性值。该方法还可以包括应用相关性值和预测置信区间来确定如何组合预测值，以及应用多变量数据融合以组合预测值。可以从输出选项列表中选择数据分析的形式，包括预测，报告，警告和警报以及其他形式的报告。

18. 发明申请

US20090088884A1 MANUFACTURING AUTOMATION SYSTEM COMPONENTS COMPATIBILITY AND PERFORMANCE TESTING WITH INTEGRATED VIRTUAL AND REAL ENVIRONMENT 审中-公开
标题翻译：制造自动化系统组件与综合虚拟和实际环境的兼容性和性能测试
公开(公告)号：US20090088884A1
公开(公告)日：2009-04-02
申请号：US12237894
申请日：2008-09-25
申请人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
发明人： Chengyin Yuan , Fangming Gu , Stephan R. Biller , Leandro G. Barajas
IPC分类号： G06F17/00
CPC分类号： G05B19/41885 , G05B2219/31078 , G05B2219/39014 , G05B2219/40288 , Y02P90/083 , Y02P90/26
摘要： A system and method for providing an integrated virtual and real emulation environment for a manufacturing process to provide component compatibility testing and system performance prediction. In one embodiment, a real manufacturing system includes one or more real components that are controlled by a programmable logic controller. The real component can be replaced with a virtual component to determine whether it is compatible in the process, where the programmable controller sends signals to and receive signals from the virtual component as if it were the real component. For system performance prediction, a virtual manufacturing process is provided that includes virtual components where the virtual process is controlled by a programmable logic control as if it were a real process to determine the performance of a real system using the virtual process.
摘要翻译：一种用于为制造过程提供集成的虚拟和真实仿真环境以提供组件兼容性测试和系统性能预测的系统和方法。在一个实施例中，实际制造系统包括由可编程逻辑控制器控制的一个或多个实际部件。真实组件可以用虚拟组件替代，以确定它在过程中是否兼容，其中可编程控制器向虚拟组件发送信号并从虚拟组件接收信号，就像它是真实组件一样。对于系统性能预测，提供虚拟制造过程，其包括虚拟组件，其中虚拟过程由可编程逻辑控制来控制，就像它是确定使用虚拟过程的真实系统的性能的真实过程一样。

19. 发明授权

US07324924B2 Curve fitting for signal estimation, prediction, and parametrization 有权
标题翻译：用于信号估计，预测和参数化的曲线拟合
公开(公告)号：US07324924B2
公开(公告)日：2008-01-29
申请号：US11341782
申请日：2006-01-27
申请人： Leandro G. Barajas , Guoxian Xiao
发明人： Leandro G. Barajas , Guoxian Xiao
IPC分类号： G06F19/00 , G06F17/40 , G06F7/00 , G06F17/10 , G06F17/12 , G06F17/17
CPC分类号： G05B19/4183 , G05B2219/32194 , G05B2219/32371 , G05B2219/34477 , Y02P90/10 , Y02P90/22 , Y02P90/26
摘要： A method and system of automatically curve fit data series to generate data signal characterization and prediction is disclosed. The method includes receiving input data including a plurality of data series and set of input parameters. The method also includes preprocessing the data series to generate preprocessed data according to a plurality of input parameters. The method further includes performing sorting and prioritization of the data series and curve fitting by a plurality of models and search and optimization algorithms on the smoothed or raw data series according to a plurality of input parameters to generate text and graphic output, and storing text and graphic output. The system includes modules for carrying out steps of the method.
摘要翻译：公开了一种自动曲线拟合数据序列生成数据信号表征和预测的方法和系统。该方法包括接收包括多个数据序列和一组输入参数的输入数据。该方法还包括对数据序列进行预处理，以根据多个输入参数生成预处理数据。该方法还包括根据多个输入参数对多个模型进行数据序列的排序和优先排序以及对平滑或原始数据序列的搜索和优化算法的多个模型的曲线拟合，以产生文本和图形输出，以及存储文本和图形输出。该系统包括用于执行该方法的步骤的模块。

20. 发明申请

US20110137463A1 SYSTEMS AND METHODS ASSOCIATED WITH HANDLING AN OBJECT WITH A GRIPPER 有权
标题翻译：与拖车处理对象相关的系统和方法
公开(公告)号：US20110137463A1
公开(公告)日：2011-06-09
申请号：US12634313
申请日：2009-12-09
申请人： Javier A. Alcazar , Leandro G. Barajas
发明人： Javier A. Alcazar , Leandro G. Barajas
IPC分类号： G05B15/00
CPC分类号： B25J9/1669 , G05B2219/39107 , G05B2219/39508 , G05B2219/39527
摘要： A system associated with handling an object with a gripper includes a sensor that is configured to measure spatially distributed data that represents the position of the object that is handled by the gripper. The system further includes a computing unit that is configured to determine the behavior of the object.
摘要翻译：与夹持器处理对象相关联的系统包括被配置为测量表示由夹具处理的对象的位置的空间分布的数据的传感器。系统还包括被配置为确定对象的行为的计算单元。

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