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21. 发明授权

US07727159B2 Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same 有权
标题翻译：用于检测没有运动假象的血流信号的装置和方法，以及使用其的应力测试装置
公开(公告)号：US07727159B2
公开(公告)日：2010-06-01
申请号：US10909305
申请日：2004-08-03
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
IPC分类号： A61B5/02
CPC分类号： A61B5/02405 , A61B5/02416 , A61B5/0261 , A61B5/7207
摘要： An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.
摘要翻译：一种用于检测没有运动伪影的血流信号的装置和方法，以及使用其的应力测试装置，通过从通过光体积描记术检测的血流信号中消除运动伪影来增强血流信号的数据可靠性。用于检测血流信号的装置包括基本图案相关系数计算单元，用于使用血液流量检测单元确定从被检体的身体感测的血流信号中的峰值点，并且使用预定的基本图案和运动假象处理单元，以使用所计算的相关系数来确定运动伪影，并从血流信号中去除运动伪像。因此，通过从通过光体积描记术检测的血流信号有效地去除运动伪影，可以提高血流信号的可靠性。

22. 发明申请

US20090076651A1 Apparatus and method for calculating position of robot 有权
标题翻译：计算机器人位置的装置和方法
公开(公告)号：US20090076651A1
公开(公告)日：2009-03-19
申请号：US12232255
申请日：2008-09-12
申请人： Hyoung-Ki Lee , Ki-Wan Choi , Ji-Young Park , Seok-Won Bang
发明人： Hyoung-Ki Lee , Ki-Wan Choi , Ji-Young Park , Seok-Won Bang
IPC分类号： G06F19/00
CPC分类号： B25J13/089 , G05D1/024 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274
摘要： Provided are an apparatus and method of calculating the position of a robot, which determine the position of a robot and create a map of the surroundings of the robot which account for the travel state of the robot. The apparatus includes a state variable calculation module which calculates a plurality of state variables regarding a travel state of the robot by using a plurality of Kalman filters; a travel state determination module which determines the travel state of the robot based on the results of the calculation performed by the state variable calculation module; and a state variable update module which updates the state variables according to the result of the determination performed by the travel state determination module.
摘要翻译：提供了一种计算机器人的位置的装置和方法，该机器人确定机器人的位置并且创建考虑到机器人的行进状态的机器人的周围的地图。该装置包括状态变量计算模块，通过使用多个卡尔曼滤波器来计算关于机器人的行进状态的多个状态变量; 行驶状态确定模块，其基于由状态变量计算模块执行的计算结果来确定机器人的行驶状态; 以及状态变量更新模块，根据行驶状态判定模块执行的判定结果来更新状态变量。

23. 发明申请

US20090024353A1 Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same 有权
标题翻译：测量移动机器人姿态的方法及使用其的移动机器人的位置测量方法和装置
公开(公告)号：US20090024353A1
公开(公告)日：2009-01-22
申请号：US12219235
申请日：2008-07-17
申请人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
发明人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
IPC分类号： G01P13/00
CPC分类号： G05D1/0891 , G06T7/73 , G06T2207/10016 , G06T2207/30244 , G06T2207/30252
摘要： A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.
摘要翻译：提供了一种测量移动机器人姿态的方法，以及用于测量用于测量移动机器人的移动机器人的位置的方法和装置。用于测量移动机器人的姿态的装置包括：加速度计，测量移动机器人在向前方向的加速度;均匀运动确定单元，确定移动机器人是否属于均匀运动部分，加速部分或减速度姿势计算单元，使用所测量的向前方向的加速度与重力加速度之间的关系来计算均匀运动部分中的移动机器人的俯仰和滚动。

24. 发明申请

US20080022790A1 Apparatus and method for correcting bias of gyroscope mounted on mobile robot 有权
标题翻译：用于校正安装在移动机器人上的陀螺仪偏差的装置和方法
公开(公告)号：US20080022790A1
公开(公告)日：2008-01-31
申请号：US11822405
申请日：2007-07-05
申请人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
IPC分类号： G01C19/54
CPC分类号： G01C19/42 , Y10T74/1229
摘要： An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.
摘要翻译：一种校正安装在移动机器人上并测量移动机器人的角速度的陀螺仪的偏置的装置。该装置包括：分别测量移动机器人的相应的至少一个车轮的行进速度的至少一个编码器; 建模单元，通过使用测量的行进速度来计算移动机器人的角速度; 偏置推定单元通过使用所计算的角速度和所测量的角速度之间的差值来确定置信区间，并且通过使用所述差值之中的置信区间中的值来计算推定的偏差; 以及偏置去除单元，从所测量的角速度除去所述推定的偏压。

25. 发明申请

US20070252549A1 Robot having an obstacle detection unit and method of controlling the same 有权
标题翻译：具有障碍物检测单元的机器人及其控制方法
公开(公告)号：US20070252549A1
公开(公告)日：2007-11-01
申请号：US11606344
申请日：2006-11-30
申请人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
发明人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
IPC分类号： B25J5/00
CPC分类号： G05D1/0227 , A47L2201/00 , G05D1/0238 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.
摘要翻译：具有障碍物检测单元的机器人和控制机器人的方法。机器人包括主体，驱动单元，辅助主体和控制单元。驱动单元沿给定的表面驱动主体。辅助体从主体突出并检测主体周围的障碍物。控制单元根据检测结果来控制驱动单元，使得主体和障碍物保持彼此预定的距离。

26. 发明申请

US20070188449A1 Pointing device user interface method, medium, and system robust against external noise 有权
标题翻译：指点设备用户界面方法，中等和系统对外部噪声的抵抗力
公开(公告)号：US20070188449A1
公开(公告)日：2007-08-16
申请号：US11652515
申请日：2007-01-12
申请人： Ki-wan Choi , Sun-gi Hong , Ho-joon Yoo , Nam-woo Kim , Su-jinn Lee
发明人： Ki-wan Choi , Sun-gi Hong , Ho-joon Yoo , Nam-woo Kim , Su-jinn Lee
IPC分类号： G09G5/08
CPC分类号： G06F3/0325
摘要： A pointing method, medium, and system detecting a synchronization signal from a plurality of light sources sequentially blinking at predetermined periods, detecting position information of the light sources by driving a video camera in synchronization with the synchronization signal, removing noise from among observed light sources by using the position information, and calculating a pointed to position by using the position information of the non-noise light sources. Provided is also a pointing reception method, medium, and system using a plurality of light sources blinking sequentially at predetermined periods, receiving the position information corresponding to light sources presenting the signals received by a pointing device and the position information pointed by the pointing device, and changing output data with respect to the pointed position information.
摘要翻译：指定方法，介质和系统检测来自多个光源的同步信号，以预定周期顺序闪烁，通过与同步信号同步地驱动摄像机来检测光源的位置信息，从观察到的光源中去除噪声通过使用位置信息，并且通过使用非噪声光源的位置信息来计算指向位置。还提供了一种使用多个光源以预定周期顺序闪烁的指示接收方法，媒体和系统，接收与呈现由指示设备接收的信号的光源相对应的位置信息以及由指示设备指向的位置信息，以及相对于所述指示位置信息改变输出数据。

27. 发明授权

US08600603B2 Apparatus and method of localization of mobile robot 有权
标题翻译：移动机器人定位装置及方法
公开(公告)号：US08600603B2
公开(公告)日：2013-12-03
申请号：US12588956
申请日：2009-11-03
申请人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
发明人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
IPC分类号： G01C22/00 , G05D1/00
CPC分类号： G06K9/00691 , G06T7/75
摘要： A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.
摘要翻译：提供了移动机器人的定位方法和定位装置。在一个方面，预先存储参考对象的特征信息以用作定位的标记，并且通过利用在移动机器人的初始位置获得的所存储的特征信息和特征信息来定义参考特征信息。因此，可以增加本地化的准确性，而无需使用额外的人造地标。

28. 发明申请

US20130046177A1 METHOD OF GENERATING ULTRASOUND IMAGE AND ULTRASOUND SYSTEM USING THE METHOD 审中-公开
标题翻译：使用该方法生成超声图像和超声系统的方法
公开(公告)号：US20130046177A1
公开(公告)日：2013-02-21
申请号：US13586316
申请日：2012-08-15
申请人： Ki-wan Choi , Dong-geon Kong , Jong-bum Seo
发明人： Ki-wan Choi , Dong-geon Kong , Jong-bum Seo
IPC分类号： A61B8/14
CPC分类号： A61B8/5223 , A61B5/01 , A61N7/02 , G01K11/22
摘要： A method of generating an ultrasound image and an ultrasound system using the method, the method including: obtaining an echo signal from an ultrasound signal irradiated on an organ; calculating an amount of a change in the echo signal with respect to a reference echo signal; determining a temperature of the organ from the amount of the change in the echo signal by using an amount of a change in an attenuation coefficient of the organ that changes according to a temperature change; and generating an ultrasound image including information about the determined temperature.
摘要翻译：一种使用该方法生成超声图像和超声系统的方法，所述方法包括：从照射在器官上的超声信号获得回波信号; 计算回波信号相对于参考回波信号的变化量; 通过使用根据温度变化而变化的器官的衰减系数的变化量，从回波信号的变化量确定器官的温度; 以及生成包括关于所确定的温度的信息的超声波图像。

29. 发明申请

US20120302883A1 METHOD AND SYSTEM FOR TREATMENT AND DIAGNOSIS USING ULTRASOUND 审中-公开
标题翻译：使用超声波治疗和诊断的方法和系统
公开(公告)号：US20120302883A1
公开(公告)日：2012-11-29
申请号：US13470897
申请日：2012-05-14
申请人： Dong-geon KONG , Joon-kee Cho , Ki-wan Choi
发明人： Dong-geon KONG , Joon-kee Cho , Ki-wan Choi
IPC分类号： A61B8/08 , A61B8/14 , A61N7/00
CPC分类号： A61B8/085 , A61B8/485 , A61B2017/00106 , A61B2018/00642 , A61B2090/378 , A61N7/02 , A61N2007/027 , G01S7/52042 , G01S15/8984 , G01S15/899
摘要： A method and system for treatment and diagnosis using ultrasound includes irradiating ultrasound for treatment into a treatment site, inducing a shear wave around the treatment site, irradiating ultrasound for diagnosis into the treatment site, and determining a degree of treatment or necrosis of a tissue of the treatment site by using a measured displacement of the shear wave.
摘要翻译：使用超声的治疗和诊断的方法和系统包括：将超声波照射到治疗部位，诱导治疗部位周围的剪切波，将超声波照射到治疗部位进行诊断，以及确定组织的治疗或坏死程度通过使用剪切波的测量位移进行处理。

30. 发明申请

US20120275769A1 SYSTEM, METHOD AND MEDIUM EDITING MOVING PICTURES USING BIOMETRIC SIGNALS 审中-公开
标题翻译：系统，方法和媒体编辑使用生物信号的移动图像
公开(公告)号：US20120275769A1
公开(公告)日：2012-11-01
申请号：US13440056
申请日：2012-04-05
申请人： Gyung hye YANG , Ki-wan Choi , Seung-Nyung Chung , Youn-ho Kim , Yong-beom Lee
发明人： Gyung hye YANG , Ki-wan Choi , Seung-Nyung Chung , Youn-ho Kim , Yong-beom Lee
IPC分类号： G11B27/02 , G11B27/10
CPC分类号： G11B27/034 , G11B27/11
摘要： A system, method and medium editing a moving picture using biometric signals is provided. The system includes a biometric signal generation module to measure signals that reflect an emotional state of a user while capturing a moving picture, and to generate a first and a second biometric signal based on the measured signals, an event section extraction module to extract a first event section that reflects preferences of the user from a playback section of the moving picture based on the first biometric signal, extract a second event section that reflects preferences of the user from the playback section of the moving picture based on a second biometric signal, and extract a final event section based on the first and second event sections, and an indexing module to edit the moving picture by indexing the final event section in synchronization with the playback section of the moving picture.
摘要翻译：提供了使用生物特征信号编辑运动图像的系统，方法和介质。该系统包括生物信号生成模块，用于在捕获运动图像的同时测量反映用户的情感状态的信号，并且基于测量的信号生成第一和第二生物测定信号;事件部分提取模块，用于提取第一事件部分，其基于第一生物测定信号从运动图像的重放部分反映用户的偏好，基于第二生物测定信号从运动图像的回放部分提取反映用户偏好的第二事件部分;以及基于第一和第二事件部分提取最终事件部分，以及索引模块，用于通过与运动图像的回放部分同步地索引最终事件部分来编辑运动图像。

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