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1. 发明授权

US08600554B2 System and method for robot trajectory generation with continuous accelerations 有权
标题翻译：具有连续加速度的机器人轨迹生成系统和方法
公开(公告)号：US08600554B2
公开(公告)日：2013-12-03
申请号：US13142540
申请日：2010-06-04
申请人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
发明人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
IPC分类号： G05B19/00 , G06F19/00
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40519 , G05B2219/43062
摘要： A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.
摘要翻译：一种用于连续加速的机器人轨迹生成方法，通过运动命令界面接收用户的运动命令，并将用户的运动命令发送到笛卡尔轨迹发生器; 将用户命令转换为笛卡尔空间中机器人末端执行器的轨迹路径点; 将笛卡尔空间中的机器人末端执行器的轨迹路径点变换为联合空间中的机器人轨迹路径; 计算每个运动伺服循环中机器人关节的位置，速度和加速度; 比较由关节轨迹插值仪产生的机器人关节的位置，速度和加速度，分别以机器人参数数据库中存储的每个机器人关节的速度极限值和加速度极限值。

2. 发明申请

US20120029699A1 SYSTEM AND METHOD FOR ROBOT TRAJECTORY GENERATION WITH CONTINUOUS ACCELERATIONS 有权
标题翻译：用于连续加速的机器人轨迹生成系统和方法
公开(公告)号：US20120029699A1
公开(公告)日：2012-02-02
申请号：US13142540
申请日：2010-06-04
申请人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
发明人： Fengshui Jing , Min Tan , En Li , Zize Liang , Zengguang Hou , Degang Yang , Kailiang Zhang , Yanhui Qiang
IPC分类号： G05B15/00
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40519 , G05B2219/43062
摘要： A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.
摘要翻译：一种用于连续加速的机器人轨迹生成方法，通过运动命令界面接收用户的运动命令，并将用户的运动命令发送到笛卡尔轨迹发生器; 将用户命令转换为笛卡尔空间中机器人末端执行器的轨迹路径点; 将笛卡尔空间中的机器人末端执行器的轨迹路径点变换为联合空间中的机器人轨迹路径; 计算每个运动伺服循环中机器人关节的位置，速度和加速度; 比较由关节轨迹插值仪产生的机器人关节的位置，速度和加速度，分别以机器人参数数据库中存储的每个机器人关节的速度极限值和加速度极限值。

3. 发明申请

US20140298099A1 INTELLIGENT DETECTION SYSTEM AND METHOD FOR DETECTING DEVICE FAULT 审中-公开
标题翻译：用于检测设备故障的智能检测系统和方法
公开(公告)号：US20140298099A1
公开(公告)日：2014-10-02
申请号：US13976882
申请日：2010-12-31
申请人： Min Tan , Xiaoguang Zhao , Zize Liang , En Li
发明人： Min Tan , Xiaoguang Zhao , Zize Liang , En Li
IPC分类号： G06F11/07
CPC分类号： G06F11/079 , G05B19/406 , G05B2219/37226 , G05B2219/37337 , G05B2219/37431 , G05B2219/37434
摘要： An intelligent detection system and detection method are presented. The system includes a central processing board (CPB), a data acquisition board (DAB), a synchronous communication board (SCB) and a plurality of connection plugs. For data transformation, the CPB, DAB and SCB are connected via the plurality of connection plugs. A plurality of sensors are connected to the intelligent detection system to collect the data reflecting the operation status of the device to be detected. The intelligent detection system and method achieve a real-time and accurate detection and diagnosis of the mechanical failure by detecting the temperature, the vibration and/or the noise signals of device.
摘要翻译：提出了智能检测系统和检测方法。该系统包括中央处理板（CPB），数据采集板（DAB），同步通信板（SCB）和多个连接插头。对于数据变换，CPB，DAB和SCB通过多个连接插头连接。多个传感器连接到智能检测系统以收集反映待检测装置的操作状态的数据。智能检测系统和方法通过检测设备的温度，振动和/或噪声信号来实现对机械故障的实时和准确的检测和诊断。

4. 发明授权

US09252766B2 Load detecting circuits and the method thereof 有权
标题翻译：负载检测电路及其方法
公开(公告)号：US09252766B2
公开(公告)日：2016-02-02
申请号：US13538843
申请日：2012-06-29
申请人： Yuancheng Ren , En Li , Naixing Kuang , Yike Li
发明人： Yuancheng Ren , En Li , Naixing Kuang , Yike Li
IPC分类号： G01R19/00 , H03K17/30 , H03K17/20 , H02M1/00 , H02M1/32 , H04B1/00 , G01R31/40
CPC分类号： H03K17/30 , G01R31/40 , G05B2219/00 , H02M1/00 , H02M1/32 , H03K17/20 , H03K2017/307 , H04B1/00
摘要： A no-load detecting circuit and the method thereof are disclosed. The no-load detecting circuit may be applied in switching mode power supplies or other circuits. The no-load detecting circuit comprises: a variable resistance circuit coupled in series to a load of the switching mode power supply; and a first comparison circuit coupled to the variable resistance circuit to receive the voltage across the variable resistance circuit, wherein based on the comparison of the voltage across the variable resistance circuit and a first threshold, the first comparison circuit generates a no-load detecting signal indicative of the load status; wherein the equivalent resistance of the variable resistance circuit varies based on the varying of the load of the switching mode power supply.
摘要翻译：公开了一种空载检测电路及其方法。空载检测电路可以应用在开关模式电源或其他电路中。空载检测电路包括：串联耦合到开关模式电源的负载的可变电阻电路; 以及耦合到所述可变电阻电路以接收所述可变电阻电路两端的电压的第一比较电路，其中，基于所述可变电阻电路两端的电压与第一阈值的比较，所述第一比较电路产生无负载检测信号指示负载状态; 其中可变电阻电路的等效电阻根据开关模式电源的负载变化而变化。

5. 发明申请

US20120112795A1 Peak Current Control Circuit for Switching Mode Power Supply and Method Thereof 有权
标题翻译：用于开关电源的峰值电流控制电路及其方法
公开(公告)号：US20120112795A1
公开(公告)日：2012-05-10
申请号：US13288536
申请日：2011-11-03
申请人： Siran Wang , Yuancheng Ren , Junming Zhang , En Li
发明人： Siran Wang , Yuancheng Ren , Junming Zhang , En Li
IPC分类号： H03K5/22
CPC分类号： H02M3/33507 , H02M2001/0025
摘要： A switching mode power supply with improved peak current control is disclosed. A varying reference signal is adopted to limit the peak current in the energy storage component. The varying reference signal is an exponential function of a time period when a power switch is ON, wherein the power switch is coupled to the energy storage component. The varying reference signal may be generated by a circuit comprising a RC circuit and one or several voltage sources.
摘要翻译：公开了具有改进的峰值电流控制的开关模式电源。采用变化的参考信号来限制能量存储部件中的峰值电流。变化的参考信号是电源开关导通的时间段的指数函数，其中功率开关耦合到能量存储部件。变化的参考信号可以由包括RC电路和一个或多个电压源的电路产生。

6. 发明申请

US20100302815A1 SWITCHING MODE POWER SUPPLY WITH A MULTI-MODE CONTROLLER 有权
标题翻译：用多模式控制器切换模式电源
公开(公告)号：US20100302815A1
公开(公告)日：2010-12-02
申请号：US12720396
申请日：2010-03-09
申请人： En Li , Junming Zhang , Yuancheng Ren
发明人： En Li , Junming Zhang , Yuancheng Ren
IPC分类号： H02M3/335
CPC分类号： H02M3/33523
摘要： A switching mode power supply with a multi-mode controller is provided. The switching mode power supply may include a transformer having a primary winding and a secondary winding to supply power to a load. A feedback circuit may be included to generate a feedback signal that varies in relation to the load on the secondary winding. The multi-mode controller may include a switching circuit, a frequency control circuit and a current limiting circuit. The switching circuit may be coupled to the primary winding to control current flow through the primary winding. The frequency control circuit may control a switching frequency of the switching circuit based on the feedback signal. The current limiting circuit may limit current flow through the primary winding by causing the switching circuit to suspend current flow through the primary winding when the current reaches a peak current limit that is set based on the feedback signal.
摘要翻译：提供了具有多模式控制器的开关模式电源。开关模式电源可以包括具有初级绕组和次级绕组以向负载供电的变压器。可以包括反馈电路以产生相对于次级绕组上的负载而变化的反馈信号。多模式控制器可以包括开关电路，频率控制电路和限流电路。开关电路可以耦合到初级绕组以控制通过初级绕组的电流。频率控制电路可以基于反馈信号来控制开关电路的开关频率。当电流达到基于反馈信号设定的峰值电流限制时，限流电路可以通过使开关电路暂停通过初级绕组的电流来限制通过初级绕组的电流。

7. 发明申请

US20100302813A1 DUAL-MODE CONSTANT LOAD CONTROL CIRCUITS AND ASSOCIATED METHODS 有权
标题翻译：双模恒定负载控制电路及相关方法
公开(公告)号：US20100302813A1
公开(公告)日：2010-12-02
申请号：US12633983
申请日：2009-12-09
申请人： Huanyu Lu , En Li
发明人： Huanyu Lu , En Li
IPC分类号： H02M3/335
CPC分类号： H02M3/33523
摘要： Dual-mode AC/DC power converters and associated methods of operation are disclosed herein. In one embodiment, the AC/DC converter includes a primary winding, a switching transistor coupled to the primary winding, the switching transistor configured to carry a drain-source current, and a feedback voltage port configured to carry a feedback voltage. The feedback voltage port is coupled to the switching transistor to switch off the switching transistor when the drain-source current reaches a peak current limit. The peak current limit increases with increasing feedback voltage if and only if the feedback voltage satisfies an ordered relationship with a threshold.
摘要翻译：这里公开了双模式AC / DC电力转换器及相关操作方法。在一个实施例中，AC / DC转换器包括初级绕组，耦合到初级绕组的开关晶体管，被配置为承载漏源电流的开关晶体管和被配置为承载反馈电压的反馈电压端口。当漏极 - 源极电流达到峰值电流极限时，反馈电压端口耦合到开关晶体管，以断开开关晶体管。当且仅当反馈电压满足与阈值的有序关系时，峰值电流限制随着反馈电压的增加而增加。

8. 发明申请

US20080131901A1 De novo DNA cytosine methyltransferase genes, polypeptides and uses thereof 审中-公开
公开(公告)号：US20080131901A1
公开(公告)日：2008-06-05
申请号：US11980427
申请日：2007-10-31
申请人： En Li , Masaki Okano , Shaoping Xie
发明人： En Li , Masaki Okano , Shaoping Xie
IPC分类号： C12Q1/68 , C12Q1/48 , G01N33/53
CPC分类号： C12N9/1007 , A61K48/00 , C12N2799/026
摘要： De novo DNA cytosine methyltransferase polynucleotides and polypeptides and methods for producing said polypeptides are disclosed. Also disclosed are methods for utilizing de novo DNA cytosine methyltransferase polynucleotides and polypeptides in diagnostic assays, for an in vitro DNA methylation application and therapeutic applications such as the treatment of neoplastic disorders.

9. 发明授权

US08687387B2 Quasi-resonant controlled switching regulator and the method thereof 有权
标题翻译：准谐振控制开关调节器及其方法
公开(公告)号：US08687387B2
公开(公告)日：2014-04-01
申请号：US13218361
申请日：2011-08-25
申请人： Yike Li , Rui Wang , En Li
发明人： Yike Li , Rui Wang , En Li
IPC分类号： H02M3/335
CPC分类号： H02M3/156 , H02M2001/0058 , Y02B70/1425 , Y02B70/1491
摘要： A frequency limitation method used in a quasi-resonant controlled switching regulator is disclosed. The switching frequency is limited by setting a minimum time period, such as a minimum switching period or a minimum OFF time period. The minimum time period is varying according to the difference between the minimum time period of the previous cycle and an offset value, so as to eliminate the audible noise caused by the frequency hopping when the minimum OFF time period is close to the valley of a quasi-resonant signal.
摘要翻译：公开了一种在准谐振控制开关调节器中使用的频率限制方法。通过设置最小时间段（例如最小切换周期或最小关闭时间段）来限制开关频率。最小时间段根据前一周期的最小时间间隔和偏移值之间的差异而变化，以消除当最小关闭时间段接近准准的谷谷时跳频引起的可听见的噪声共振信号。

10. 发明申请

US20120113684A1 Compensation Circuit for Constant Current Regulation of Power Supply and Method Thereof 有权
标题翻译：电源恒流调节补偿电路及其方法
公开(公告)号：US20120113684A1
公开(公告)日：2012-05-10
申请号：US13289274
申请日：2011-11-04
申请人： Siran Wang , Yuancheng Ren , Junming Zhang , En Li
发明人： Siran Wang , Yuancheng Ren , Junming Zhang , En Li
IPC分类号： H02M3/335
CPC分类号： H02M3/335
摘要： A compensation circuit and method for constant current regulation of switching mode power supply are disclosed. The ringing waveform of a feedback signal, indicative of the output current of the power supply, causes error. To eliminate the error, a current source charges a capacitor in response to a demagnetizing oscillation signal indicative of the error caused by the ringing waveform of the feedback signal. The voltage across the capacitor is compared to a reference signal to generate a more accurate signal indicative of the conductive time of a secondary diode in a secondary winding of the switching mode power supply. This more accurate signal is inputted to a logic circuit to generate a constant current control signal to control a power switch of the power supply.
摘要翻译：公开了一种用于开关电源的恒流调节的补偿电路和方法。指示电源的输出电流的反馈信号的振铃波形引起误差。为了消除误差，电流源响应于指示由反馈信号的振铃波形引起的误差的去磁振荡信号对电容器充电。将电容器两端的电压与参考信号进行比较，以产生指示开关模式电源的次级绕组中次级二极管的导通时间的更准确的信号。该更准确的信号被输入到逻辑电路以产生恒定电流控制信号以控制电源的电源开关。

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