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1. 发明授权

US09027336B2 Self-regulating pressure source 有权
标题翻译：自调压源
公开(公告)号：US09027336B2
公开(公告)日：2015-05-12
申请号：US13420886
申请日：2012-03-15
申请人： Cagdas Denizel Onal , Daniela Rus , Xin Chen , George M. Whitesides
发明人： Cagdas Denizel Onal , Daniela Rus , Xin Chen , George M. Whitesides
IPC分类号： F16D31/02 , G05D16/06 , F15B21/06
CPC分类号： G05D16/0636 , F15B21/06
摘要： Self-regulating pressure source. The pressure source includes a chamber enclosing a chemical monopropellant. A moveable boss is attached to a deformable membrane sealing an air chamber, the moveable boss and air chamber being disposed within the chamber. A catalyst is disposed around the membrane so as to be covered by the boss in a retracted position so that the monopropellant is broken down by the catalyst to produce a gas. The gas pressure will increase within the chamber causing air in the air chamber to compress thereby to pull the boss into the retracted position to cover the catalyst thereby to regulate the pressure within the chamber. The self-regulating pressure source is particularly suited to power fluidic elastomeric actuators.
摘要翻译：自调压源。压力源包括封闭化学单元推进剂的室。可移动的凸台连接到密封空气室的可变形膜，可移动的凸台和空气室设置在室内。催化剂设置在膜周围，以便被凸起覆盖在缩回位置，使得单组分推进剂被催化剂分解以产生气体。在室内气体压力将增加，导致空气室中的空气压缩，从而将凸台拉到缩回位置以覆盖催化剂，从而调节室内的压力。自调节压力源特别适用于流体弹性致动器。

2. 发明申请

US20120272642A1 SELF-REGULATING PRESSURE SOURCE 有权
标题翻译：自调压源
公开(公告)号：US20120272642A1
公开(公告)日：2012-11-01
申请号：US13420886
申请日：2012-03-15
申请人： Cagdas Denizel Onal , Daniela Rus , Xin Chen , George M. Whitesides
发明人： Cagdas Denizel Onal , Daniela Rus , Xin Chen , George M. Whitesides
IPC分类号： F15B13/16 , B01J19/00
CPC分类号： G05D16/0636 , F15B21/06
摘要： Self-regulating pressure source. The pressure source includes a chamber enclosing a chemical monopropellant. A moveable boss is attached to a deformable membrane sealing an air chamber, the moveable boss and air chamber being disposed within the chamber. A catalyst is disposed around the membrane so as to be covered by the boss in a retracted position so that the monopropellant is broken down by the catalyst to produce a gas. The gas pressure will increase within the chamber causing air in the air chamber to compress thereby to pull the boss into the retracted position to cover the catalyst thereby to regulate the pressure within the chamber. The self-regulating pressure source is particularly suited to power fluidic elastomeric actuators.
摘要翻译：自调压源。压力源包括封闭化学单元推进剂的室。可移动的凸台连接到密封空气室的可变形膜，可移动的凸台和空气室设置在室内。催化剂设置在膜周围，以便被凸起覆盖在缩回位置，使得单组分推进剂被催化剂分解以产生气体。在室内气体压力将增加，导致空气室中的空气压缩，从而将凸台拉到缩回位置以覆盖催化剂，从而调节室内的压力。自调节压力源特别适用于流体弹性致动器。

3. 发明申请

US20140078699A1 Foldable Machines 有权
标题翻译：折叠机
公开(公告)号：US20140078699A1
公开(公告)日：2014-03-20
申请号：US13723364
申请日：2012-12-21
申请人： Daniela Rus , Robert J. Wood , Cagdas Denizel Onal , Michael Tolley
发明人： Daniela Rus , Robert J. Wood , Cagdas Denizel Onal , Michael Tolley
IPC分类号： H05K3/00 , H05K7/06 , H05K3/30
CPC分类号： H05K1/189 , H05K1/028 , H05K3/0005 , H05K3/0052 , H05K3/06 , H05K2201/052 , H05K2201/053 , H05K2201/09063 , H05K2201/0909 , H05K2203/1453 , Y10T29/4913 , Y10T29/49155
摘要： Methods to systematize the development of machines using inexpensive, fast, and convenient fabrication processes are disclosed. In an embodiment, a folding pattern and corresponding circuit design can provide the blueprints for fabrication. The folding pattern may be provided (e.g. laser machined) on a flat sheet of substrate material, such as a polymer. The circuit pattern may be generated by etching or applying (e.g. sputtering) a copper foil layer onto the substrate. Circuit components and actuators may then be added at specified locations. The flat substrate may then be folded along the predefined locations to form the final machine. The machine may operate autonomously to perform a task.
摘要翻译：公开了使用便宜，快速和方便的制造工艺来使机器开发系统化的方法。在一个实施例中，折叠图案和相应的电路设计可以提供用于制造的蓝图。折叠图案可以在诸如聚合物的基片材料的平板上提供（例如激光加工）。可以通过将铜箔层蚀刻或施加（例如溅射）到衬底上来产生电路图案。然后可以在指定位置添加电路部件和致动器。然后可以沿着预定位置折叠平面基板以形成最终机器。机器可以自主操作来执行任务。

4. 发明授权

US09686867B2 Foldable machines 有权
公开(公告)号：US09686867B2
公开(公告)日：2017-06-20
申请号：US13723364
申请日：2012-12-21
申请人： Daniela Rus , Robert J. Wood , Cagdas Denizel Onal , Michael Tolley
发明人： Daniela Rus , Robert J. Wood , Cagdas Denizel Onal , Michael Tolley
IPC分类号： H05K1/18 , H05K3/06 , H05K3/00 , H05K1/02
CPC分类号： H05K1/189 , H05K1/028 , H05K3/0005 , H05K3/0052 , H05K3/06 , H05K2201/052 , H05K2201/053 , H05K2201/09063 , H05K2201/0909 , H05K2203/1453 , Y10T29/4913 , Y10T29/49155
摘要： Methods to systematize the development of machines using inexpensive, fast, and convenient fabrication processes are disclosed. In an embodiment, a folding pattern and corresponding circuit design can provide the blueprints for fabrication. The folding pattern may be provided (e.g. laser machined) on a flat sheet of substrate material, such as a polymer. The circuit pattern may be generated by etching or applying (e.g. sputtering) a copper foil layer onto the substrate. Circuit components and actuators may then be added at specified locations. The flat substrate may then be folded along the predefined locations to form the final machine. The machine may operate autonomously to perform a task.

5. 发明授权

US10176244B2 Text characterization of trajectories 有权
公开(公告)号：US10176244B2
公开(公告)日：2019-01-08
申请号：US13940822
申请日：2013-07-12
申请人： Daniela Rus , Dan Feldman , Cynthia Rueyi Sung , Andrew Kiminari Sugaya
发明人： Daniela Rus , Dan Feldman , Cynthia Rueyi Sung , Andrew Kiminari Sugaya
IPC分类号： G06F17/30
摘要： In one embodiment, processing location data collected with a mobile device having a positioning system includes accepting trajectory data representing successive geographic positions of the mobile device, where the positions are associated with corresponding times. A set of coordinate segments is determined to represent in the accepted trajectory data, such that the trajectory data represent repeated traversals of at least some of the coordinate segments. A textual characterization is associated with each segment of the determined set of coordinate segments, and then a representation of the trajectory data (for example, an electronic diary) is formed using the textual characterization of the coordinate segments and stored. In some examples, a text based query associated with the accepted trajectory data is accepted and a response is determined using the stored representation of the trajectory data.

6. 发明申请

US20130275400A1 DATA CORESET COMPRESSION 有权
标题翻译：数据磁带压缩
公开(公告)号：US20130275400A1
公开(公告)日：2013-10-17
申请号：US13861697
申请日：2013-04-12
申请人： Daniela Rus , Dan Feldman
发明人： Daniela Rus , Dan Feldman
IPC分类号： G06F17/30
CPC分类号： G06F17/30153 , H03M7/3064
摘要： An approach to compression of a large (n point or samples) data set has a combination of one or more desirable technical properties: for a desired level of accuracy (ε), the number of compressed points (a “coreset”) representing the original data is O(log n); the level of accuracy comprises a guaranteed bound expressed as multiple of error of an associated line simplification of the data set; for a desired level of accuracy and a complexity (e.g., number k of optimal line segments) of the associated line simplification, the computation time is O(n); and for a desired level of accuracy (c) and a complexity of the associated line simplification, the storage required for the computation is O(log n).
摘要翻译：压缩大（n点或样本）数据集的方法具有一个或多个期望的技术性质的组合：对于期望的精度水平（ε），代表原始数据的压缩点数（“核心集”）数据为O（log n）; 精度级别包括表示为数据集的相关线路简化的误差的倍数的保证界限; 对于相关线路简化的期望的精度水平和复杂度（例如，最佳线段的数量k），计算时间为O（n）; 并且为了达到期望的准确度（c）和相关线路简化的复杂性，计算所需的存储是O（log n）。

7. 发明授权

US10535256B1 Method and apparatus for traffic-aware stochastic routing and navigation 有权
公开(公告)号：US10535256B1
公开(公告)日：2020-01-14
申请号：US12419020
申请日：2009-04-06
申请人： Sejoon Lim , Hari Balakrishnan , David Kenneth Gifford , Samuel R. Madden , Daniela Rus
发明人： Sejoon Lim , Hari Balakrishnan , David Kenneth Gifford , Samuel R. Madden , Daniela Rus
IPC分类号： G08G1/01
摘要： In some embodiments, a method of providing a user with a roadway route to a destination that maximizes the probability of reaching the destination by a deadline includes providing a database of traffic delay probability distributions based on historical traffic delay information, performing route-planning using at least one of the traffic delay probability distributions and parametric optimization to determine at least one route to the destination that maximizes the probability of reaching the destination by the deadline, and displaying the at least one route to the user. In some embodiments, the database includes a mean value and a variance value associated with each route from a plurality of routes stored at the database, and the performing includes the following steps: defining a first set of routes from the plurality of routes, selecting a first route from the plurality of routes as a current optimal route, defining a second set of routes and a third set of routes based on the first route, and discarding the second set of routes.

8. 发明申请

US20110173970A1 FLEXIBLE ACTUATOR BASED ON SHAPE MEMORY ALLOY SHEET 有权
标题翻译：基于形状记忆合金板的柔性执行器
公开(公告)号：US20110173970A1
公开(公告)日：2011-07-21
申请号：US12896184
申请日：2010-10-01
申请人： Eduardo R. Torres-Jara , Daniela Rus
发明人： Eduardo R. Torres-Jara , Daniela Rus
IPC分类号： F03G7/06
CPC分类号： F03G7/06
摘要： A flexible unit-cell actuator includes a shape memory alloy sheet having a fold between adjacent legs in one state and a heat source that upon activation concentrates heating of the shape memory alloy sheet at the fold relative to the legs to change the fold between one state and another state. The heat source may include resistive heating due to an electric current passing through the shape memory alloy sheet. The fold typically includes a reduced cross-sectional area and may include slits to increase electrical resistance at the fold relative to the adjacent legs. An actuator array includes a plurality of flexible unit-cell actuators formed in a sheet, each unit-cell actuator mechanically coupled to at least one other unit-cell actuator at a coupling region. Plural unit-cell actuators may be mechanically coupled in series, in parallel, or both, may be electrically connected in series, and may move along a defined curve or surface. A linear or curvilinear actuator includes a guide, a plurality of bearings or support elements slidable along the guide, and an array of actuators coupled between adjacent bearings and circumferentially about the bearings. An actuator includes a plurality of segments fanning from a hinge and shape memory alloy actuators coupled between adjacent segments to cause the segments to fan in an out about the hinge.
摘要翻译：柔性单电池致动器包括形状记忆合金薄片，其具有处于一个状态的相邻支腿之间的折叠部分，以及热源，其在激活时将形状记忆合金薄片的加热集中在相对于腿部的折叠处，以将折叠改变为一个状态和另一个状态。热源可以包括由于通过形状记忆合金薄片的电流而产生的电阻加热。折叠通常包括减小的横截面积并且可以包括狭缝以增加相对于相邻腿部的折叠处的电阻。致动器阵列包括形成在片材中的多个柔性单元电池致动器，每个单元电致动器在耦合区域机械耦合到至少一个其它单元电池致动器。多个单元电池致动器可以串联机械耦合，并联或两者可以串联电连接，并且可以沿着限定的曲线或表面移动。线性或曲线致动器包括引导件，可沿着引导件滑动的多个轴承或支撑元件，以及联接在相邻轴承之间并围绕轴承周向的致动器阵列。致动器包括从铰链扇形的多个段和耦合在相邻段之间的形状记忆合金致动器，以使段能围绕铰链扇出。

9. 发明授权

US09286312B2 Data coreset compression 有权
标题翻译：数据内核集压缩
公开(公告)号：US09286312B2
公开(公告)日：2016-03-15
申请号：US13861697
申请日：2013-04-12
申请人： Daniela Rus , Dan Feldman
发明人： Daniela Rus , Dan Feldman
IPC分类号： G06F7/00 , G06F17/30 , H03M7/30
CPC分类号： G06F17/30153 , H03M7/3064
摘要： An approach to compression of a large (n point or samples) data set has a combination of one or more desirable technical properties: for a desired level of accuracy (ε), the number of compressed points (a “coreset”) representing the original data is O(log n); the level of accuracy comprises a guaranteed bound expressed as multiple of error of an associated line simplification of the data set; for a desired level of accuracy and a complexity (e.g., number k of optimal line segments) of the associated line simplification, the computation time is O(n); and for a desired level of accuracy (c) and a complexity of the associated line simplification, the storage required for the computation is O(log n).
摘要翻译：压缩大（n点或样本）数据集的方法具有一个或多个期望的技术特性的组合：对于期望的精度水平（“eG”），代表原始数据为O（log n）; 精度级别包括表示为数据集的相关线路简化的误差的倍数的保证界限; 对于相关线路简化的期望的精度水平和复杂度（例如，最佳线段的数量k），计算时间为O（n）; 并且为了达到期望的准确度（c）和相关线路简化的复杂性，计算所需的存储是O（log n）。

10. 发明授权

US08106944B2 Adaptive illumination for color-corrected underwater imaging 有权
标题翻译：自适应照明用于色彩校正水下成像
公开(公告)号：US08106944B2
公开(公告)日：2012-01-31
申请号：US11624369
申请日：2007-01-18
申请人： Iuliu Vasilescu , Alexander Bahr , Carrick Detweiler , Daniela Rus
发明人： Iuliu Vasilescu , Alexander Bahr , Carrick Detweiler , Daniela Rus
IPC分类号： H04N7/18
CPC分类号： G03B13/00 , H04N5/2354 , H04N9/04
摘要： Described are a method and an apparatus for color-corrected underwater imaging. A range to an underwater object to be imaged is determined and control values are selected according to the range. Control values are predetermined for a number of ranges according to an optimization of a color quality factor for each range based on the spectra of the optical sources used for illumination and the wavelength-dependent optical transmission of the water for the range. The optical power of each optical source is controlled according to a respective one of the selected control values. Advantageously, an acquired image requires no color correction as the adaptive illumination compensates for the wavelength-dependent losses in the light propagation path from the optical sources to the object and from the object to the imaging device.
摘要翻译：描述了用于色彩校正的水下成像的方法和装置。确定要成像的水下物体的范围，并根据该范围选择控制值。根据用于照明的光源的光谱和用于该范围的水的波长依赖性光透射，根据对于每个范围的颜色品质因子的优化，控制值是预定的。每个光源的光功率根据所选择的控制值中的相应一个来控制。有利地，获得的图像不需要颜色校正，因为自适应照明补偿从光源到物体和从物体到成像装置的光传播路径中的波长相关损耗。

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