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1. 发明授权

US08548802B2 Acoustic data processor and acoustic data processing method for reduction of noise based on motion status 有权
标题翻译：基于运动状态减少噪声的声学数据处理器和声学数据处理方法
公开(公告)号：US08548802B2
公开(公告)日：2013-10-01
申请号：US12784119
申请日：2010-05-20
申请人： Kazuhiro Nakadai , Ince Gokhan , Hiroshi Tsujino , Tobias Rodemann
发明人： Kazuhiro Nakadai , Ince Gokhan , Hiroshi Tsujino , Tobias Rodemann
IPC分类号： G10L11/04
CPC分类号： G10L21/0208 , G10L15/20
摘要： An acoustic data processor according to the present invention is used for processing acoustic data including signal sounds to reduce noises generated by a mechanical apparatus. The acoustic data processor includes a motion status obtaining section for obtaining motion status of the mechanical apparatus, an acoustic data obtaining section for obtaining acoustic data corresponding to the obtained motion status, and a database for storing various motion statuses of the mechanical apparatus in a unit time and corresponding acoustic data as templates. The acoustic data processor further includes a database searching section for searching the database to retrieve the template having the motion status closest to the obtained motion status; and a template subtraction section for subtracting the acoustic data of the template having the motion status closest to the obtained motion status from the obtained acoustic data to reduce noises generated by the mechanical apparatus.
摘要翻译：根据本发明的声学数据处理器用于处理包括信号声音的声学数据，以减少由机械设备产生的噪声。声学数据处理器包括用于获得机械装置的运动状态的运动状态获取部分，用于获得与获得的运动状态对应的声学数据的声学数据获取部分，以及用于以单位存储机械装置的各种运动状态的数据库时间和相应的声学数据作为模板。声学数据处理器还包括数据库搜索部分，用于搜索数据库以检索具有最接近获得的运动状态的运动状态的模板; 以及模板减法部分，用于从所获得的声学数据中减去具有最接近获得的运动状态的运动状态的模板的声学数据，以减少由机械装置产生的噪声。

2. 发明申请

US20070038398A1 Increasing robustness of online calibration through motion detection 失效
标题翻译：通过运动检测提高在线校准的鲁棒性
公开(公告)号：US20070038398A1
公开(公告)日：2007-02-15
申请号：US11501573
申请日：2006-08-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： G06F19/00
CPC分类号： B25J9/163 , B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39387 , G05B2219/40617
摘要： In a method for controlling an orienting/positioning system, the orienting system comprises at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means. The method comprises the steps of: (a) Evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means; (b) Deciding on a targeted post-action position of said pattern in the input space of said sensor means; (c) Defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function; (d) Orienting/Positioning the sensor means by the actuator means according to the defined command in order to carry out an orienting/positioning action; (e) Detecting the real post-action position of the patterns in the input space of said sensor means; (f) Detecting external motion of the pattern; and (g) Adapting the mapping function used in step (c), wherein steps (a) to (g) are repeated using the respectively adapted mapping function. An output signal from the external-motion detection device can be used to control the adaptation step (g).
摘要翻译：在一种用于控制定向/定位系统的方法中，定向系统包括至少一个传感器装置，外部运动检测装置，用于检测传感器装置的环境中的外部引起的运动，以及用于控制定向和/或传感器装置的定位动作。该方法包括以下步骤：（a）评估所述传感器装置的动作输出信息，以便检测传感器装置的输入空间中的图案的位置; （b）在所述传感器装置的输入空间中确定所述图案的目标后动作位置; （c）通过使用预定义的映射函数将传感器装置的输入空间坐标中的预动作位置和目标后动作位置的任何偏差映射到致动器控制坐标来定义致动器装置的命令; （d）根据所定义的命令通过致动器装置定向/定位传感器装置，以执行定向/定位动作; （e）检测在所述传感器装置的输入空间中的图案的真实的后动作位置; （f）检测图案的外部动作; 和（g）适应步骤（c）中使用的映射函数，其中使用分别适应的映射函数重复步骤（a）至（g）。可以使用来自外部运动检测装置的输出信号来控制适应步骤（g）。

3. 发明申请

US20090018696A1 Method and Device for Controlling a Robot 审中-公开
标题翻译：用于控制机器人的方法和装置
公开(公告)号：US20090018696A1
公开(公告)日：2009-01-15
申请号：US12168667
申请日：2008-07-07
申请人： Christian Goerick , Bram Bolder , Herbert Janssen , Stephan Kirstein , Heiko Wersing , Michael Gienger , Hisashi Sugiura , Inna Mikhailova , Tobias Rodemann
发明人： Christian Goerick , Bram Bolder , Herbert Janssen , Stephan Kirstein , Heiko Wersing , Michael Gienger , Hisashi Sugiura , Inna Mikhailova , Tobias Rodemann
IPC分类号： G05B19/04
CPC分类号： B25J9/161
摘要： A robot controller including a multitude of simultaneously functioning robot controller units. Each robot controller unit is adapted to receive an input signal, receive top-down information, execute an internal process or dynamics, store at least one representation, send top-down information, issue motor commands wherein each motor command has a priority. The robot controller selects one or several motor commands issued by one or several units based on their priority. Each robot controller unit may read representations stored in other robot controller units.
摘要翻译：一种机器人控制器，包括许多同时运作的机器人控制器单元。每个机器人控制器单元适于接收输入信号，接收自顶向下信息，执行内部过程或动态，存储至少一个表示，发送自上而下的信息，发出电动机命令，其中每个电动机命令具有优先权。机器人控制器根据其优先级选择一个或多个单元发出的一个或多个电动机命令。每个机器人控制器单元可以读取存储在其他机器人控制器单元中的表示。

4. 发明申请

US20070291968A1 Method for Estimating the Position of a Sound Source for Online Calibration of Auditory Cue to Location Transformations 有权
标题翻译：用于估计用于在线校准听觉提示到位置变换的声源的位置的方法
公开(公告)号：US20070291968A1
公开(公告)日：2007-12-20
申请号：US11752849
申请日：2007-05-23
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： H04R5/02
CPC分类号： G01S3/8055 , G01S3/8083
摘要： A method for estimating the location of a sound source. First, a first microphone and a second microphone are moved relative to the sound source. Then the Intra-aural Time Difference (ITD) between the two microphones is measured. The moving and the measuring are repeated until the Intra-aural Time Difference (ITD) is smaller than a predefined threshold.
摘要翻译：一种用于估计声源的位置的方法。首先，第一麦克风和第二麦克风相对于声源移动。然后测量两个麦克风之间的听觉时间差（ITD）。重复移动和测量，直到听觉时间差（ITD）小于预定阈值。

5. 发明申请

US20050234566A1 Self-calibrating orienting system for a manipulating device 失效
标题翻译：用于操纵装置的自校准定向系统
公开(公告)号：US20050234566A1
公开(公告)日：2005-10-20
申请号：US11101952
申请日：2005-04-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： B25J19/04 , B25J9/16 , G05B13/02 , G05B19/401 , G05B19/18 , G06F19/00
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39391 , G05B2219/40617
摘要： The invention relates to the control of an orienting/positioning system comprising comprising at least a sensor and an actuator for controlling an orienting and/or positioning action adapted to change an input space of the sensor. A first step evaluates pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor. A second step decides on a targeted post-action position of the manipulating device in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step orients/positions the manipulating device according to the defined command in order to carry out the orienting/positioning action. A fifth step detects a real post-action position of the manipulating device in the input space of the sensor. A sixth step adapts the mapping function used in step three based on any difference of the real post-action position and the targeted post-action position of the manipulating device in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function. According to one embodiment of the present invention, steps S 1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.
摘要翻译：本发明涉及定向/定位系统的控制，其包括至少一个传感器和致动器，用于控制适于改变传感器的输入空间的定向和/或定位动作。第一步骤评估传感器的动作前输出信息，以便检测传感器的输入空间中的操纵装置的预作用位置。第二步决定传感器的输入空间中的操纵装置的目标后动作位置。第三步通过使用预定义的映射函数将传感器的输入空间中的预作用位置和目标后动作位置的任何偏差映射到致动器控制坐标来定义致动器的命令。第四步根据所定义的命令定位/定位操纵装置，以便执行定向/定位动作。第五步骤检测传感器的输入空间中的操作装置的实际位置。基于传感器的输入空间中的操作装置的真实后动作位置和目标动作位置的任何差异，第六步骤适应步骤3中使用的映射函数，以便执行增量自适应学习映射功能。根据本发明的一个实施例，步骤S1至S6使用分别适应的映射函数循环重复至少一次。

6. 发明授权

US07509177B2 Self-calibrating orienting system for a manipulating device 失效
标题翻译：用于操纵装置的自校准定向系统
公开(公告)号：US07509177B2
公开(公告)日：2009-03-24
申请号：US11101952
申请日：2005-04-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： G05B19/18 , G06F19/00 , G05B13/00 , G05B19/19 , B25J9/18 , B25J5/00 , G05D1/00
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39391 , G05B2219/40617
摘要： The invention relates to the control of an orienting/positioning system comprising comprising at least a sensor and an actuator for controlling an orienting and/or positioning action adapted to change an input space of the sensor. A first step evaluates pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor. A second step decides on a targeted post-action position of the manipulating device in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step orients/positions the manipulating device according to the defined command in order to carry out the orienting/positioning action. A fifth step detects a real post-action position of the manipulating device in the input space of the sensor. A sixth step adapts the mapping function used in step three based on any difference of the real post-action position and the targeted post-action position of the manipulating device in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function. According to one embodiment of the present invention, steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.
摘要翻译：本发明涉及定向/定位系统的控制，其包括至少一个传感器和致动器，用于控制适于改变传感器的输入空间的定向和/或定位动作。第一步骤评估传感器的动作前输出信息，以便检测传感器的输入空间中的操纵装置的预作用位置。第二步决定传感器的输入空间中的操纵装置的目标后动作位置。第三步通过使用预定义的映射函数将传感器的输入空间中的预作用位置和目标后动作位置的任何偏差映射到致动器控制坐标来定义致动器的命令。第四步根据所定义的命令定位/定位操纵装置，以便执行定向/定位动作。第五步骤检测传感器的输入空间中的操作装置的实际位置。基于传感器的输入空间中的操作装置的真实后动作位置和目标动作位置的任何差异，第六步骤适应步骤3中使用的映射函数，以便执行增量自适应学习映射功能。根据本发明的一个实施例，步骤S1至S6使用分别适应的映射函数循环重复至少一次。

7. 发明授权

US07324907B2 Self-calibrating sensor orienting system 失效
标题翻译：自校准传感器定向系统
公开(公告)号：US07324907B2
公开(公告)日：2008-01-29
申请号：US11102283
申请日：2005-04-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/1697 , B25J9/163 , G05B19/401 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617
摘要： Controlling an orienting/positioning system having a sensor and actuator for controlling at least one of an orienting and positioning action of the sensor. The invention (1) evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor, (2) determines a targeted post-action position of the pattern in the input space of the sensor, (3) defines an actuator command by mapping any deviation of the pre-action and post action position in the input space to actuator control coordinates using a predefined mapping function, (4) controls the actuators according to the defined command to execute the orienting/positioning action, (5) detects the real post-action position of the pattern in an input space of the sensor, (6) adapts the mapping function based on differences between the real post-action position and the targeted post-action position of the pattern in the input space.
摘要翻译：控制具有传感器和致动器的定向/定位系统，用于控制传感器的定向和定位动作中的至少一个。本发明（1）评估传感器的动作前输出信息，以便检测传感器的输入空间中的图案的位置，（2）确定图像的输入空间中的图案的目标动作后位置传感器，（3）通过使用预定义的映射功能将输入空间中的预动作和后动作位置的任何偏差映射到致动器控制坐标来定义致动器命令，（4）根据所定义的命令控制致动器以执行定向/定位动作，（5）检测传感器的输入空间中的图案的真实的动作后位置，（6）基于真实的动作后位置与目标动作位置之间的差异来适应映射功能的输入空间中的图案。

8. 发明授权

US07295942B2 Increasing robustness of online calibration through motion detection 失效
公开(公告)号：US07295942B2
公开(公告)日：2007-11-13
申请号：US11501573
申请日：2006-08-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： G01P21/00
CPC分类号： B25J9/163 , B25J9/1697 , G05B19/401 , G05B2219/39367 , G05B2219/39387 , G05B2219/40617
摘要： In a method for controlling an orienting/positioning system, the orienting system comprises at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means. The method comprises the steps of: (a) Evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means; (b) Deciding on a targeted post-action position of said pattern in the input space of said sensor means; (c) Defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function; (d) Orienting/Positioning the sensor means by the actuator means according to the defined command in order to carry out an orienting/positioning action; (e) Detecting the real post-action position of the patterns in the input space of said sensor means; (f) Detecting external motion of the pattern; and (g) Adapting the mapping function used in step (c), wherein steps (a) to (g) are repeated using the respectively adapted mapping function. An output signal from the external-motion detection device can be used to control the adaptation step (g).

9. 发明授权

US08036397B2 Method for estimating the position of a sound source for online calibration of auditory cue to location transformations 有权
标题翻译：用于估计用于在线校准听觉提示到位置变换的声源的位置的方法
公开(公告)号：US08036397B2
公开(公告)日：2011-10-11
申请号：US11752849
申请日：2007-05-23
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： H04R3/00
CPC分类号： G01S3/8055 , G01S3/8083
摘要： A method for estimating the location of a sound source. First, a first microphone and a second microphone are moved relative to the sound source. Then the Intra-aural Time Difference (ITD) between the two microphones is measured. The moving and the measuring are repeated until the Intra-aural Time Difference (ITD) is smaller than a predefined threshold.
摘要翻译：一种用于估计声源的位置的方法。首先，第一麦克风和第二麦克风相对于声源移动。然后测量两个麦克风之间的听觉时间差（ITD）。重复移动和测量，直到听觉时间差（ITD）小于预定阈值。

10. 发明申请

US20060149489A1 Self-calibrating sensor orienting system 失效
标题翻译：自校准传感器定向系统
公开(公告)号：US20060149489A1
公开(公告)日：2006-07-06
申请号：US11102283
申请日：2005-04-08
申请人： Frank Joublin , Tobias Rodemann
发明人： Frank Joublin , Tobias Rodemann
IPC分类号： G01C17/38
CPC分类号： B25J9/1697 , B25J9/163 , G05B19/401 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617
摘要： One embodiment of the present invention relates to the control of an orienting/positioning system comprising a sensor and an actuator for controlling an orienting and/or positioning action of the sensor. A first step evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor. A second step decides on a targeted post-action position of the pattern in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step controls the actuators according to the defined command in order to carry out an orienting/positioning action. A fifth step detects the real post-action position of the pattern in an input space of the sensor. A sixth step adapts the mapping function used in step three based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function. According to one embodiment, steps one through six are cyclically repeated at least once using the respectively adapted mapping.
摘要翻译：本发明的一个实施例涉及一种定向/定位系统的控制，其包括用于控制传感器的定向和/或定位动作的传感器和致动器。第一步骤评估传感器的动作前输出信息，以便检测传感器的输入空间中的图案的位置。第二步决定传感器的输入空间中的图案的目标动作后位置。第三步通过使用预定义的映射函数将传感器的输入空间中的预作用位置和目标后动作位置的任何偏差映射到致动器控制坐标来定义致动器的命令。第四步骤根据所定义的命令控制致动器，以执行定向/定位动作。第五步骤检测传感器的输入空间中图案的实际位置。基于传感器的输入空间中的图案的实际位置和目标后期位置的任何差异，第六步骤适应步骤3中使用的映射函数，以便执行增量自适应学习映射功能。根据一个实施例，步骤1至6使用分别适应的映射循环重复至少一次。

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