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11. 发明授权

US5410636A Learning system for a data processing apparatus 失效
标题翻译：一种数据处理设备的学习系统
公开(公告)号：US5410636A
公开(公告)日：1995-04-25
申请号：US112377
申请日：1993-08-27
申请人： Ryusuke Masuoka , Nobuo Watanabe , Takashi Kimoto , Akira Kawamura , Kazuo Asakawa , Jun'ichi Tanahashi
发明人： Ryusuke Masuoka , Nobuo Watanabe , Takashi Kimoto , Akira Kawamura , Kazuo Asakawa , Jun'ichi Tanahashi
IPC分类号： G06N3/08 , G06F15/18
CPC分类号： G06N3/08
摘要： A learning system is used in a data processing apparatus for learning an input pattern by obtaining an internal-state value necessary for realizing a desired data conversion by performing a pattern conversion defined by the internal-state value and calculating an output pattern corresponding to the input pattern. The learning system comprises a pattern presenting unit for presenting an input pattern group of the subject to be learned for pattern conversion, dividing the input pattern group of the subject to be learned into at least two sets, selecting one of the divided sets, presenting the input pattern group of the selected set to a pattern conversion unit and presenting an input pattern group belonging to all the sets presented up to the current point when the internal-state value to be converged is obtained in accordance with the presentation of the selected set, and an error value calculating unit for calculating an error value representing a magnitude of a non-consistency between an output pattern group outputted in accordance with the presentation and a teacher pattern group representing a pattern to be obtained by the said output pattern group.
摘要翻译：在用于学习输入模式的数据处理装置中使用学习系统，通过执行由内部状态值定义的模式转换来获得实现所需数据转换所需的内部状态值，并计算与输入对应的输出模式模式。该学习系统包括：图案呈现单元，用于呈现要被学习的图案转换的对象的输入图案组，将要学习的被摄体的输入图案组划分为至少两组;选择一个分割组，根据所选择的集合的呈现，获得所选集合的输入模式组到模式转换单元，并且呈现属于当前点所呈现的所有集合的输入模式组，当满足内部状态值时，以及误差值计算单元，用于计算表示根据呈现输出的输出图案组与表示由所述输出图案组获得的图案的教师图案组之间的不一致性的大小的误差值。

12. 发明授权

US5207554A Supporting device 失效
标题翻译：配套设备
公开(公告)号：US5207554A
公开(公告)日：1993-05-04
申请号：US546661
申请日：1990-07-03
申请人： Kazuo Asakawa , Fumiaki Akiya , Fumio Tabata
发明人： Kazuo Asakawa , Fumiaki Akiya , Fumio Tabata
IPC分类号： B23P19/00 , B25J9/10 , B25J15/00 , B25J15/06 , B25J17/02 , B25J19/00 , G01L5/16 , G01L5/22
CPC分类号： B23P19/102 , B23P19/12 , B25J15/00 , B25J15/0616 , B25J17/0208 , B25J19/00 , B25J9/0015 , G01L5/161 , G01L5/226 , Y10S33/13
摘要： A supporting device comprising a first member which supports a springy means for resiliently supporting a second member. The supporting device comprises a detection means for detecting displacement of the springy means with respect to the first member in accordance with the movement of the second member and a biasing means which applies a force to the springy means from the same direction as or from a direction opposite to that of the displacement for changing the elasticity of the springy means in accordance with the movement of the second member.
摘要翻译：一种支撑装置，包括支撑用于弹性地支撑第二构件的弹性装置的第一构件。支撑装置包括检测装置，用于根据第二构件的运动检测弹性装置相对于第一构件的位移;以及偏置装置，其从与方向相同的方向向弹性装置施加力与用于根据第二构件的运动改变弹性装置的弹性的位移相反。

13. 发明授权

US4791588A Movable apparatus driving system 失效
标题翻译：移动式设备驱动系统
公开(公告)号：US4791588A
公开(公告)日：1988-12-13
申请号：US78008
申请日：1987-07-24
申请人： Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
发明人： Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
IPC分类号： G05B19/42 , B25J9/18 , G05B19/423 , G05B13/00
CPC分类号： G05B19/423 , G05B2219/36429 , G05B2219/40087 , G05B2219/42092
摘要： A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal.Moreover, a robot control system comprises a control device for controlling the motion of a robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement ) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of the spring meachnisum by a predetermined gain. The control device controls the motion of the robot in response to the addition of a position command generated from the control means and the deflection feedback value.
摘要翻译：可移动装置驱动系统包括可移动装置的驱动装置，用于检测可移动装置周围的环境信息并响应于环境信息数据输出相应信号的第一输出装置，用于输出命令信号的第二输出装置驱动驱动装置，以便基于要移动的可移动装置的目标位置数据和可移动装置的当前位置数据将可移动装置移动到目标位置; 以及用于提供由环境信息数据和命令信号构成的复合信号的供给装置。此外，机器人控制系统包括：控制装置，用于响应于对机器人的命令信号来控制机器人的运动; 设置在机器人的工作点处的弹簧机构，用于检测由施加到机器人的外力引起的偏转（位移）; 以及反馈装置，用于反馈通过将检测到的弹簧锤的输出乘以预定增益而获得的偏转反馈值。控制装置响应于从控制装置产生的位置指令和偏转反馈值的相加而控制机器人的运动。

14. 发明授权

US6023693A Learning system for a data processing apparatus 失效
标题翻译：一种数据处理设备的学习系统
公开(公告)号：US6023693A
公开(公告)日：2000-02-08
申请号：US540030
申请日：1995-10-06
申请人： Ryusuke Masuoka , Nobuo Watanabe , Takashi Kimoto , Akira Kawamura , Kazuo Asakawa , Jun'ichi Tanahashi
发明人： Ryusuke Masuoka , Nobuo Watanabe , Takashi Kimoto , Akira Kawamura , Kazuo Asakawa , Jun'ichi Tanahashi
IPC分类号： G06N3/08 , G06F15/18
CPC分类号： G06N3/08
摘要： A learning system is used in a data processing apparatus for learning an input pattern by obtaining an internal-state value necessary for realizing a desired data conversion by performing a pattern conversion defined by the internal-state value and calculating an output pattern corresponding to the input pattern. The learning system comprises a pattern presenting unit for presenting an input pattern group of the subject to be learned for pattern conversion, dividing the input pattern group of the subject to be learned into at least two sets, selecting one of the divided sets, presenting the input pattern group of the selected set to a pattern conversion unit and presenting an input pattern group belonging to all the sets presented up to the current point when the internal-state value to be converged is obtained in accordance with the presentation of the selected set, and an error value calculating unit for calculating an error value representing a magnitude of a non-consistency between an output pattern group outputted in accordance with the presentation and a teacher pattern group representing a pattern to be obtained by the output pattern group.
摘要翻译：在用于学习输入模式的数据处理装置中使用学习系统，通过执行由内部状态值定义的模式转换来获得实现所需数据转换所需的内部状态值，并计算与输入对应的输出模式模式。该学习系统包括：图案呈现单元，用于呈现要被学习的图案转换的对象的输入图案组，将要学习的被摄体的输入图案组划分为至少两组;选择一个分割组，根据所选择的集合的呈现，获得所选集合的输入模式组到模式转换单元，并且呈现属于当前点所呈现的所有集合的输入模式组，当满足内部状态值时，以及误差值计算单元，用于计算表示根据呈现输出的输出图案组与表示由输出图案组获得的图案的教师图案组之间的不一致性的大小的误差值。

15. 发明授权

US5600843A Ring systolic array system for synchronously performing matrix/neuron computation using data transferred through cyclic shift register connected in cascade of trays 失效
标题翻译：振铃收缩阵列系统，用于使用通过循环移位寄存器在级联的托盘中传送的数据同步执行矩阵/神经元计算
公开(公告)号：US5600843A
公开(公告)日：1997-02-04
申请号：US227472
申请日：1994-04-14
申请人： Hideki Kato , Hideki Yoshizawa , Hiroki Iciki , Kazuo Asakawa
发明人： Hideki Kato , Hideki Yoshizawa , Hiroki Iciki , Kazuo Asakawa
IPC分类号： G06F15/173 , G06F15/80 , G06N3/10 , G06F15/16
CPC分类号： G06N3/10 , G06F15/17337 , G06F15/8015
摘要： A parallel data processing system comprises a plurality of data processing units each having at least one input and storing data of a matrix and a plurality of trays each having a first input and an output and for storing data of a vector, each of all or part of said trays having a second output connected to said first input of a respective one of said data processing units, and said trays being connected in cascade to form a shift register for performing data transfer between corresponding ones of the trays and the data processing units and data processing in the data processing units synchronously, thereby performing an operation of a matrix vector product or a neuron computer operation on analog signals.
摘要翻译：并行数据处理系统包括多个数据处理单元，每个数据处理单元具有至少一个输入和存储矩阵的数据和多个托盘，每个托盘具有第一输入和输出，并且用于存储向量的数据，全部或部分所述托盘具有连接到所述数据处理单元的相应一个的所述第一输入的第二输出，并且所述托盘级联连接以形成移位寄存器，用于在相应的托盘和数据处理单元之间执行数据传输，数据处理单元中的数据处理同步，从而对模拟信号进行矩阵向量积或神经元计算机操作。

16. 发明授权

US5216746A Error absorbing system in a neuron computer 失效
标题翻译：神经电脑中的错误吸收系统
公开(公告)号：US5216746A
公开(公告)日：1993-06-01
申请号：US486647
申请日：1990-02-28
申请人： Hideki Yoshizawa , Hiroki Iciki , Hideki Kato , Kazuo Asakawa , Yoshihide Sugiura , Hiroyuki Tsuzuki , Hideichi Endoh , Takashi Kawasaki , Toshiharu Matsuda , Hiromu Iwamoto , Chikara Tsuchiya , Katsuya Ishikawa
发明人： Hideki Yoshizawa , Hiroki Iciki , Hideki Kato , Kazuo Asakawa , Yoshihide Sugiura , Hiroyuki Tsuzuki , Hideichi Endoh , Takashi Kawasaki , Toshiharu Matsuda , Hiromu Iwamoto , Chikara Tsuchiya , Katsuya Ishikawa
IPC分类号： G06N3/04
CPC分类号： G06N3/04
摘要： An error absorbing system for absorbing errors through a weight correction is provided in a neuron computer for receiving an analog input signal through a first analog bus in a time divisional manner, performing a sum-of-the-products operation, and outputting an analog output signal to a second analog bus. The error absorbing system includes a dummy node for producing a fixed voltage to an analog bus in a test mode. The dummy node is connected to the analog bus of the neural network. An error measuring unit compulsorily inputs 0 volts to the first analog bus through the dummy node in a first state of a test mode and detects an offset voltage produced in an analog neuron processor through the second analog bus. A weight correcting unit, in a second state of the test mode, determines a temporary weight between the dummy node and the neuron processor. The temporary weight is multiplied by the fixed voltage produced by the dummy node, based on an offset voltage of respective neuron processors. The weight correcting unit calculates a correct weight using a gain based on the detection output voltage output from the second analog bus. A weight memory stores the weight corrected by the weight correcting unit.

17. 发明授权

US4921396A Supporting device 失效
标题翻译：配套设备
公开(公告)号：US4921396A
公开(公告)日：1990-05-01
申请号：US158041
申请日：1988-02-16
申请人： Kazuo Asakawa , Fumiaki Akiya , Fumio Tabata
发明人： Kazuo Asakawa , Fumiaki Akiya , Fumio Tabata
IPC分类号： B23P19/00 , B25J9/10 , B25J15/00 , B25J15/06 , B25J17/02 , B25J19/00 , G01L5/16 , G01L5/22
CPC分类号： B23P19/102 , B23P19/12 , B25J15/00 , B25J15/0616 , B25J17/0208 , B25J19/00 , B25J9/0015 , G01L5/161 , G01L5/226 , Y10T403/20 , Y10T403/45 , Y10T403/54
摘要： A supporting device including a first member which supports a springy means for resiliently supporting a second member. The supporting device includes a detection for detecting displacements of the springy with respect to the first member in accordance with the movement of the second member and a biasing which applies a force to the springy from the same direction as or from a direction opposite to that of the displacement for changing the elasticity of the springy in accordance with the movement of the second member.
摘要翻译：一种支撑装置，包括支撑用于弹性地支撑第二构件的弹性装置的第一构件。支撑装置包括用于根据第二构件的运动来检测弹性相对于第一构件的位移的检测，以及从与来自与第二构件的相反方向相反的方向向与弹簧相反的方向施加力的偏压用于根据第二构件的移动来改变弹性的弹性的位移。

18. 发明授权

US4872803A Force controlling system 失效
标题翻译：强制控制系统
公开(公告)号：US4872803A
公开(公告)日：1989-10-10
申请号：US175616
申请日：1988-03-29
申请人： Kazuo Asakawa
发明人： Kazuo Asakawa
IPC分类号： B25J9/10 , B25J13/08 , B25J15/02 , G01B7/02 , G01L5/22
CPC分类号： B25J9/1015 , B25J13/082 , B25J15/0246 , B25J15/0253 , G01B7/02 , G01L5/226 , Y10S294/907
摘要： In a force controlling system, a movable member fixed to an elastic member applies a force to an object in correspondence with a force reference signal. At this time, an additional force is applied via a driver to the movable member by the positive feedback of the displacement of the elastic member to the driver, so that the reactive force due to the displacement of the elastic member is counteracted by the additional force. As a result, the movable memer applies only a force in correspondence to the force reference signal to the object.
摘要翻译：在力控制系统中，固定在弹性部件上的活动部件与力参考信号对应地对物体施加力。此时，通过弹性构件向驾驶员的位移的正反馈，通过驱动器将附加的力施加到可动构件，使得由于弹性构件的位移而产生的反作用力被附加的力抵消。结果，可移动记忆体仅对与对象的力参考信号相对应的力施加力。

19. 发明授权

US4862751A Force-detecting apparatus 失效
标题翻译：力检测装置
公开(公告)号：US4862751A
公开(公告)日：1989-09-05
申请号：US192184
申请日：1988-05-10
申请人： Kazuo Asakawa , Nobuhiko Onda , Tadashi Akita , Toru Kamada
发明人： Kazuo Asakawa , Nobuhiko Onda , Tadashi Akita , Toru Kamada
IPC分类号： G01L1/04 , G01L1/22 , G01L5/16 , G01L5/22
CPC分类号： G01L1/044 , G01L1/2243 , G01L5/161 , G01L5/226
摘要： A force-detecting apparatus comprising an elastic member deformable symmetrically with respect to the center, a first displacement-detecitng means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the same direction, and a second displacement-detecting means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the opposite directions.

20. 发明授权

US4488242A Robot arm control method using open loop control in combination with closed loop control 失效
标题翻译：机器人手臂控制方法采用开环控制结合闭环控制
公开(公告)号：US4488242A
公开(公告)日：1984-12-11
申请号：US333056
申请日：1981-12-21
申请人： Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
发明人： Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
IPC分类号： B25J9/16 , B25J13/00 , G05B19/18 , G05B19/39 , G05B19/4103 , G06F15/46 , G05B19/22
CPC分类号： G05B19/39 , G05B2219/45187
摘要： A method for controlling the locus of an arm of an arm type robot or the like, wherein a control system which drives a first arm of a two-joint arm under open-loop control and a second arm under feedback control is provided. A bang-bang drive system is used for positioning the first arm in a minimum time. The position of the tip of the second arm can be detected either from the rotational angle of each arm or by means of a position recognizing device. Furthermore, an arm positioning method for rapidly bringing the tip of a multi-joint arm to a desired position while detecting the positions of its tip and its joints by simple calculations is disclosed.
摘要翻译：一种用于控制臂式机器人等的臂的轨迹的方法，其中提供了一种控制系统，该控制系统在开环控制下驱动双关节臂的第一臂和在反馈控制下的第二臂。一个爆炸驱动系统用于在最短的时间内定位第一臂。可以从每个臂的旋转角度或通过位置识别装置检测第二臂的尖端的位置。此外，公开了一种用于通过简单计算来检测多个关节臂的尖端到期望位置同时检测其尖端及其关节的位置的臂定位方法。

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