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21. 发明申请

US20110022232A1 CONTROL DEVICE FOR MOBILE BODY 有权
标题翻译：移动体控制装置
公开(公告)号：US20110022232A1
公开(公告)日：2011-01-27
申请号：US12841603
申请日：2010-07-22
申请人： Takahide Yoshiike , Toru Takenaka , Takashi Matsumoto
发明人： Takahide Yoshiike , Toru Takenaka , Takashi Matsumoto
IPC分类号： G05B15/00
CPC分类号： B62D57/032
摘要： A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an overshoot or an undershoot from occurring. To determine a required manipulated variable according to a feedback control law in order to converge a state amount deviation related to the posture of the base body of the mobile body to zero, the feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body or the base body. The required manipulated variable is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation.
摘要翻译：用于移动体的控制装置使得可以平滑地校正移动体的基体的实际姿态与基体的所需姿势同时上下移动的基体的偏离，同时抑制发生过冲或下冲。为了将与移动体的基体的状态相关的状态量偏差收敛到零，根据反馈控制律确定所需的操作变量，反馈控制律的反馈增益通过使用时间序列在从移动体或基体的期望的惯性力的时间序列中的从现在到现在的时间到预定时间的期间。所需的操纵变量通过基于确定的反馈增益和状态量偏差的观测值的反馈控制律的计算来确定。

22. 发明授权

US07750303B2 Radiological imaging apparatus and positron emission tomographic apparatus 有权
标题翻译：放射成像装置和正电子发射断层摄影装置
公开(公告)号：US07750303B2
公开(公告)日：2010-07-06
申请号：US11355136
申请日：2006-02-16
申请人： Yuuichirou Ueno , Kensuke Amemiya , Norihito Yanagita , Takafumi Ishitsu , Tomoyuki Seino , Takashi Matsumoto , Shinobu Irikura
发明人： Yuuichirou Ueno , Kensuke Amemiya , Norihito Yanagita , Takafumi Ishitsu , Tomoyuki Seino , Takashi Matsumoto , Shinobu Irikura
IPC分类号： G01T1/161 , G01T1/24
CPC分类号： G01T1/2985
摘要： A positron emission tomography apparatus installs a plurality of detector units in the circumference of a bed. The detector unit installs a plurality of combined substrates including detectors, analogue ASICs, and a digital ASIC and a voltage adjustment device inside a housing. A partition plate installed inside the housing separates the region inside the housing into a first region installed with the combined substrates and a second region installed with the voltage adjustment device. The partition plate blocks noise generated in the voltage adjustment device so as not to affect γ-ray detection signals outputted from the detectors, thereby preventing the effect of the noise generated in the voltage adjustment device toward γ-ray detection signals and shortening the examination time.
摘要翻译：正电子发射断层摄影装置在床的周围安装多个检测器单元。检测器单元将包括检测器，模拟ASIC以及数字ASIC和电压调节装置的多个组合基板安装在壳体内。安装在壳体内部的隔板将壳体内的区域分离成安装有组合基板的第一区域和安装有电压调节装置的第二区域。分隔板阻止在电压调节装置中产生的噪声，从而不影响从检测器输出的γ射线检测信号，从而防止电压调节装置中产生的噪声对γ射线检测信号的影响，缩短检查时间。

23. 发明授权

US07664572B2 Control device of legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US07664572B2
公开(公告)日：2010-02-16
申请号：US10512231
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto
IPC分类号： G05B19/18 , G06F19/00 , G05B19/408
CPC分类号： B62D57/032
摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.
摘要翻译：一种有腿式移动机器人的控制装置，其中，状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和期望步态的状态量之间的差异确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定所需步态的期望运动，使得状态量误差接近零。使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望步态的动态模型来确定期望的运动。同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地面反作用力遵循所需的运动和期望的步态的期望的地板反作用力。

24. 发明授权

US07606634B2 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US07606634B2
公开(公告)日：2009-10-20
申请号：US10596055
申请日：2004-11-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B15/00
CPC分类号： B25J13/085 , B62D57/032
摘要： Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions 10 of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
摘要翻译：接地部分10分为树结构，使得配备有三个或更多个接地部分10的移动体1（移动机器人）的每个接地接触部分10成为叶节点，并且中间节点存在于叶片之间节点和具有所有叶节点作为其后代节点的根节点。在具有子节点的每个节点（第C个节点）上，确定第C个节点的接地部分10的期望相对高度的校正量，使得第C节点的实际节点楼层反作用力之间的相对关系第C节点的子节点近似于第C节点的子节点的期望节点楼层反作用力之间的相对关系，并且操作移动体1的关节，使得通过组合校正而获得的期望相对高度金额满意

25. 发明授权

US07603234B2 Controller of legged mobile robot 有权
标题翻译：腿式移动机器人控制器
公开(公告)号：US07603234B2
公开(公告)日：2009-10-13
申请号：US10562327
申请日：2004-06-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The occurrence of a slippage of a robot in operation, following a desired gait, is determined, and the permissible range of a restriction object amount, such as a floor reaction force horizontal component or a floor reaction force moment vertical component to be applied to the robot, is variably set according to a slippage determination result. A provisional motion of a desired gait is determined using a dynamic model, and if the restriction object amount defined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the changing rate of the angular momentum of the robot from the provisional motion so as to limit the restriction object amount to the permissible range, while satisfying a dynamic balance condition.
摘要翻译：确定在期望的步态之后操作的机器人的滑动的发生，并且将限制对象量的允许范围，例如地板反作用力水平分量或地板反作用力矩垂直分量施加到机器人，根据滑动判定结果可变地设定。使用动态模型确定期望步态的临时运动，并且如果由临时动作限定的限制对象量偏离允许范围，则通过改变变化率来校正临时动作来确定期望步态的运动的机器人的角动量从临时动作开始，以将限制对象量限制在允许范围内，同时满足动态平衡条件。

26. 发明申请

US20090142919A1 Semiconductor device and manufacturing method of the same 有权
公开(公告)号：US20090142919A1
公开(公告)日：2009-06-04
申请号：US12320357
申请日：2009-01-23
申请人： Junji Noguchi , Takashi Matsumoto , Takayuki Oshima , Toshihiko Onozuka
发明人： Junji Noguchi , Takashi Matsumoto , Takayuki Oshima , Toshihiko Onozuka
IPC分类号： H01L21/768
CPC分类号： H01L21/7682 , H01L21/76811 , H01L21/76832 , H01L21/76834 , H01L21/76843
摘要： In a semiconductor device, capacitance between copper interconnections is decreased and the insulation breakdown is improved simultaneously, and a countermeasure is taken for misalignment via by a manufacturing method including the steps of forming an interconnection containing copper as a main ingredient in an insulative film above a substrate, forming insulative films and a barrier insulative film for a reservoir pattern, forming an insulative film capable of suppressing or preventing copper from diffusing on the upper surface and on the lateral surface of the interconnection and above the insulative film and the insulative film, forming insulative films of low dielectric constant, in which the insulative film is formed such that the deposition rate above the opposing lateral surfaces of the interconnections is larger than the deposition rate therebelow to form an air gap between the adjacent interconnections and, finally, planarizing the insulative film by interlayer CMP.

27. 发明授权

US07501347B2 Semiconductor device and manufacturing method of the same 有权
标题翻译：半导体器件及其制造方法相同
公开(公告)号：US07501347B2
公开(公告)日：2009-03-10
申请号：US11446137
申请日：2006-06-05
申请人： Junji Noguchi , Takashi Matsumoto , Takayuki Oshima , Toshihiko Onozuka
发明人： Junji Noguchi , Takashi Matsumoto , Takayuki Oshima , Toshihiko Onozuka
IPC分类号： H01L21/311
CPC分类号： H01L21/7682 , H01L21/76811 , H01L21/76832 , H01L21/76834 , H01L21/76843
摘要： In a semiconductor device, capacitance between copper interconnections is decreased and the insulation breakdown is improved simultaneously, and a countermeasure is taken for misalignment via by a manufacturing method including the steps of forming an interconnection containing copper as a main ingredient in an insulative film above a substrate, forming insulative films and a barrier insulative film for a reservoir pattern, forming an insulative film capable of suppressing or preventing copper from diffusing on the upper surface and on the lateral surface of the interconnection and above the insulative film and the insulative film, forming insulative films of low dielectric constant, in which the insulative film is formed such that the deposition rate above the opposing lateral surfaces of the interconnections is larger than the deposition rate therebelow to form an air gap between the adjacent interconnections and, finally, planarizing the insulative film by interlayer CMP.
摘要翻译：在半导体器件中，铜互连之间的电容降低，并且同时提高绝缘击穿，并且通过包括以下步骤的制造方法采取不对准的对策：包括在绝缘膜上方形成包含铜作为主要成分的互连基板，形成绝缘膜和用于储存器图案的隔离绝缘膜，形成能够抑制或防止铜在互连的上表面和侧表面上以及在绝缘膜和绝缘膜上方形成的绝缘膜，形成绝缘膜的绝缘膜形成为使得相互连接的相对侧面上方的沉积速率大于其下方的沉积速率，以形成相邻互连之间的气隙，最后将绝缘膜平坦化膜层间CMP。

28. 发明授权

US07496428B2 Gait producing device for leg type movable robot 有权
标题翻译：腿式可移动机器人步态生产装置
公开(公告)号：US07496428B2
公开(公告)日：2009-02-24
申请号：US10499839
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel. The desired gait adapted for not only walking but also running or the like can be generated with a reduced amount of calculation.
摘要翻译：产生期望的步态，以满足关于合成重力的动力平衡条件和施加到有腿可移动机器人1的惯性力，该动力学模型描述了至少一个主体24的主体24的水平平移运动之间的关系机器人1，其中机器人1的诸如身体24的预定部分的姿势在保持机器人1的重心基本不变的同时变化并且由于移动而产生的地板反作用力的姿势变化运动并且假设由于运动的组合运动而产生的总楼面反作用力被表示为与运动相关联的地面反作用力的线性联接。动力学模型表示作为身体材料颗粒等的运动和飞轮的旋转运动的运动。可以以减少的计算量生成适于不仅行走而且行驶等的期望步态。

29. 发明申请

US20080111531A1 CONTROL CIRCUIT FOR SYNCHRONOUS RECTIFIER-TYPE DC-DC CONVERTER, SYNCHRONOUS RECTIFIER-TYPE DC-DC CONVERTER AND CONTROL METHOD THEREOF 有权
标题翻译：同步整流器型DC-DC转换器，同步整流器型DC-DC转换器的控制电路及其控制方法
公开(公告)号：US20080111531A1
公开(公告)日：2008-05-15
申请号：US11937818
申请日：2007-11-09
申请人： Morihito Hasegawa , Takashi Matsumoto , Ryuta Nagai
发明人： Morihito Hasegawa , Takashi Matsumoto , Ryuta Nagai
IPC分类号： G05F1/10
CPC分类号： H02M3/1588 , Y02B70/1466
摘要： To provide a control circuit for a synchronous rectifier-type DC-DC converter, a synchronous rectifier-type DC-DC converter and a control method thereof in which, in a light load state and a no-load state, an output voltage can be dropped to thus prevent an overshoot state from continuing. A synchronous rectifier-type DC-DC converter 10 and a control circuit 20A thereof comprising a first switching element FET1 that is made conductive when power is accumulated in an induction element L1, and a second switching element FET2 that is made conductive when power accumulated in induction element L1 is supplied to a load, also comprises a detecting unit COMP2 that detects that a value of an output voltage VOUT of the synchronous rectifier-type DC-DC converter 10A is a predetermined voltage value that is higher than a target voltage value, and control units COMP1 and OR1 that maintain the second switching element FET2 in a conductive state after discharge of the power accumulated in the induction element L1 is finished, based on the detection results of the detecting unit COMP2.
摘要翻译：为了提供同步整流型DC-DC转换器的控制电路，同步整流型DC-DC转换器及其控制方法，其中在轻负载状态和空载状态下，输出电压可以是从而防止过冲状态继续。同步整流型DC-DC转换器10及其控制电路20A包括当在感应元件L 1中蓄电时导通的第一开关元件FET1和导通的第二开关元件FET2 当感应元件L 1中蓄积的功率被提供给负载时，还包括检测单元COMP2，该检测单元COMP2检测同步整流型DC-DC转换器10A的输出电压VOUT的值是预定的电压值，高于目标电压值，并且在积累在感应元件L 1中的功率放电之后将第二开关元件FET 2维持在导通状态的控制单元COMP 1和OR 1基于检测的检测结果而完成单位COMP 2。

30. 发明授权

US07319302B2 Gate generating system for mobile robot 有权
标题翻译：移动机器人门生成系统
公开(公告)号：US07319302B2
公开(公告)日：2008-01-15
申请号：US10597732
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： B25J9/08
CPC分类号： B62D57/032
摘要： A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2≦m≦n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m−1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m−1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
摘要翻译：用于移动机器人的步态生成系统具有n个动态模型，并且确定定义期望步态的第一步态参数，使得满足第一动态模型上的步态的边界条件。第一个步态参数通过使用第m个动态模型（m：满足2 <= m <= n）的整数，其是除第一动态模型之外的每个动态模型，以及第m步态参数确定满足第m个动态模型的边界条件。通过使用（m-）步态参数，通过基于在第m动态模型上产生的步态的偏离程度来校正要校正的第（m-1）步态参数的对象来确定第m步态参数， 1）步态参数从边界条件。使用最终确定的第n步态参数和第n动态模型来产生期望的步态。

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