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1. 发明申请

US20100217434A1 Method and Device for Controlling Motion of an Industrial Robot With a Position Switch 有权
标题翻译：用于通过位置开关控制工业机器人运动的方法和装置
公开(公告)号：US20100217434A1
公开(公告)日：2010-08-26
申请号：US12085145
申请日：2006-11-14
申请人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toressen
发明人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toressen
IPC分类号： B25J9/16
CPC分类号： B25J9/1674
摘要： A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.
摘要翻译：一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法。机器人或控制单元包括运行伺服控制器的至少一个第一计算机。对于机器人手臂的至少一个轴构造运动限制。将机器人位置的参考信号与机器人手臂的位置的测量一起发送到机器人控制器。处理参考位置，然后在评估器中比较测量位置和处理过的参考位置，以限制机器人臂的运动。

2. 发明授权

US08036776B2 Method and device for controlling motion of an industrial robot with a position switch 有权
标题翻译：用于通过位置开关来控制工业机器人运动的方法和装置
公开(公告)号：US08036776B2
公开(公告)日：2011-10-11
申请号：US12085145
申请日：2006-11-14
申请人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toresson
发明人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toresson
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1674
摘要： A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.
摘要翻译：一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法。机器人或控制单元包括运行伺服控制器的至少一个第一计算机。对于机器人手臂的至少一个轴构造运动限制。将机器人位置的参考信号与机器人手臂的位置的测量一起发送到机器人控制器。处理参考位置，然后在评估器中比较测量位置和处理过的参考位置，以限制机器人臂的运动。

3. 发明授权

US08700914B2 Method and system for changing safety-relevant data for a control device 有权
标题翻译：用于改变控制装置的安全相关数据的方法和系统
公开(公告)号：US08700914B2
公开(公告)日：2014-04-15
申请号：US12301197
申请日：2007-04-26
申请人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
发明人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
IPC分类号： G06F11/30 , G05B19/04 , G06F21/57
CPC分类号： G05B19/04 , G05B19/0426 , G05B2219/23214 , G05B2219/24155 , G05B2219/24159 , G05B2219/24163 , G05B2219/25068 , G06F21/572
摘要： A system and method for changing safety-relevant data for a control device is provided wherein an authorized user inputs new or altered safety-relevant data, which is received on a data processing installation. A first checksum for the safety-relevant data is established and stored along with the safety-relevant data in at least one data record on the data processing installation. An enable code may also be stored in the at least one data record. This enable code may be produced by a code generator and encrypted by a key module. The data processing installation then reads back the safety-relevant data from a memory in the data processing installation, thereby allowing a comparison of the received safety-relevant data and the read back safety-relevant data. A second checksum is generated in a case where the comparison resulted in no differences. The second checksum may also be stored in the at least one data record. At least one new data record containing the safety-relevant data, the encrypted enable code and the first and second checksums is created and transmitted to the control device. The new data record is checked against prior data records and prior checksums stored on a storage medium to determine that the at least one new data record is known to the control device.
摘要翻译：提供了一种用于改变控制装置的安全相关数据的系统和方法，其中授权用户输入在数据处理装置上接收的新的或改变的安全相关数据。建立安全相关数据的第一个校验和，并与安全相关的数据一起存储在数据处理设备的至少一个数据记录中。启用代码也可以存储在至少一个数据记录中。该启用代码可以由代码生成器产生并由密钥模块加密。然后，数据处理装置从数据处理装置中的存储器读回与安全相关的数据，从而允许对所接收的安全相关数据和回读安全相关数据进行比较。在比较结果没有差异的情况下产生第二校验和。第二校验和也可以存储在至少一个数据记录中。至少一个包含安全相关数据，加密启用码以及第一和第二校验和的新数据记录被创建并发送到控制设备。根据存储在存储介质上的先前数据记录和先前校验和来检查新数据记录，以确定控制装置已知至少一个新的数据记录。

4. 发明申请

US20090313481A1 METHOD AND SYSTEM FOR CHANGING SAFETY-RELEVANT DATA FOR A CONTROL DEVICE 有权
标题翻译：用于更改用于控制设备的安全相关数据的方法和系统
公开(公告)号：US20090313481A1
公开(公告)日：2009-12-17
申请号：US12301197
申请日：2007-04-26
申请人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
发明人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
IPC分类号： G06F12/14 , G05B19/042
CPC分类号： G05B19/04 , G05B19/0426 , G05B2219/23214 , G05B2219/24155 , G05B2219/24159 , G05B2219/24163 , G05B2219/25068 , G06F21/572
摘要： A system and method for changing safety-relevant data for a control device is provided wherein an authorized user inputs new or altered safety-relevant data, which is received on a data processing installation. A first checksum for the safety-relevant data is established and stored along with the safety-relevant data in at least one data record on the data processing installation. An enable code may also be stored in the at least one data record. This enable code may be produced by a code generator and encrypted by a key module. The data processing installation then reads back the safety-relevant data from a memory in the data processing installation, thereby allowing a comparison of the received safety-relevant data and the read back safety-relevant data. A second checksum is generated in a case where the comparison resulted in no differences. The second checksum may also be stored in the at least one data record. At least one new data record containing the safety-relevant data, the encrypted enable code and the first and second checksums is created and transmitted to the control device. The new data record is checked against prior data records and prior checksums stored on a storage medium to determine that the at least one new data record is known to the control device.
摘要翻译：提供了一种用于改变控制装置的安全相关数据的系统和方法，其中授权用户输入在数据处理装置上接收的新的或改变的安全相关数据。建立安全相关数据的第一个校验和，并与安全相关的数据一起存储在数据处理设备的至少一个数据记录中。启用代码也可以存储在至少一个数据记录中。该启用代码可以由代码生成器产生并由密钥模块加密。然后，数据处理装置从数据处理装置中的存储器读回与安全相关的数据，从而允许对所接收的安全相关数据和回读安全相关数据进行比较。在比较结果没有差异的情况下产生第二校验和。第二校验和也可以存储在至少一个数据记录中。至少一个包含安全相关数据，加密启用码以及第一和第二校验和的新数据记录被创建并发送到控制设备。根据存储在存储介质上的先前数据记录和先前校验和来检查新数据记录，以确定控制装置已知至少一个新的数据记录。

5. 发明申请

US20130052737A1 METHOD FOR SELECTIVE ELECTROFUSION OF AT LEAST TWO FUSION PARTNERS HAVING CELL-LIKE MEMBRANES 失效
标题翻译：具有细胞膜的最小二次融合合作伙伴的选择性电解方法
公开(公告)号：US20130052737A1
公开(公告)日：2013-02-28
申请号：US13555946
申请日：2012-07-23
申请人： Peter Eriksson , Daniel T. Chiu , Alexander Moscho , Owe Orwar , Richard N. Zare
发明人： Peter Eriksson , Daniel T. Chiu , Alexander Moscho , Owe Orwar , Richard N. Zare
IPC分类号： C12N15/06 , C12N13/00
CPC分类号： C12N15/87 , C12N5/12 , C12N13/00
摘要： Disclosed is a method for selective electrofusion of at least two fusion partners having cell-like membranes and cellular or subcellular dimensions, comprising the following steps: A) the fusion partners are brought into contact with each other and B) an electrical field of a strength sufficient to obtain fusion and highly focused on the fusion partners is applied. The fusion partners are independently selected from the group consisting of a single cell, a liposome, a proteoliposome, a synthetic vesicle, an egg cell, an enucleated egg cell, a sperm cell at any development stage and a plant protoplast.
摘要翻译：公开了一种用于选择性电融合具有细胞样膜和细胞或亚细胞尺寸的至少两个融合伴侣的方法，包括以下步骤：A）使融合伴侣彼此接触并且B）强度的电场足以获得融合并高度集中在融合伙伴上。融合对象独立地选自单细胞，脂质体，蛋白脂质体，合成囊泡，卵细胞，去核卵细胞，任何发育阶段的精细胞和植物原生质体。

6. 发明授权

US07630775B2 Control system and method for controlling one or several manipulators 有权
标题翻译：用于控制一个或多个操纵器的控制系统和方法
公开(公告)号：US07630775B2
公开(公告)日：2009-12-08
申请号：US10517145
申请日：2003-06-05
申请人： Henrik Ryegård , Fredrik Pahlm , Jesper Bergsjö , Peter Eriksson , Ian Bird-Radolovic
发明人： Henrik Ryegård , Fredrik Pahlm , Jesper Bergsjö , Peter Eriksson , Ian Bird-Radolovic
IPC分类号： G05B11/01 , G05B19/18
CPC分类号： B25J9/161 , G05B2219/34204 , G05B2219/40306
摘要： A control system for controlling one or more manipulators. One or more drives control motors driving the movements of the manipulator. An axis computer provides control signals to the drives. A main computer is adapted to execute a program with instructions for the movements and supplies the axis computer with control instructions. Physically separated modules are adapted to be placed at separated locations and to handle different functions. Each module may be surrounded by a casing of its own, may have its own power supply and has a well-defined interface in relation to the other modules. The computers and drives are arranged in the modules. One of the modules is a main computer module, which comprises the main computer. Another of the modules is a drive module, which comprises the axis computer.
摘要翻译：一种用于控制一个或多个操纵器的控制系统。一个或多个驱动器控制电机驱动机械手的运动。轴计算机向驱动器提供控制信号。主计算机适于执行具有移动指令的程序，并向轴计算机提供控制指令。物理分离的模块适于放置在分离的位置并处理不同的功能。每个模块可以由其自身的壳体包围，可以具有其自己的电源并且具有相对于其他模块的良好定义的接口。计算机和驱动器安排在模块中。其中一个模块是主计算机模块，它包括主计算机。另一个模块是一个驱动模块，它包括轴计算机。

7. 发明授权

US07109034B2 Method for electro-permeabilization of individual cellular and organellar structures and use thereof 有权
标题翻译：单个细胞和细胞器结构的电渗透方法及其用途
公开(公告)号：US07109034B2
公开(公告)日：2006-09-19
申请号：US10325691
申请日：2002-12-19
申请人： Owe Orwar , Anders Lundqvist , Peter Eriksson , Daniel Chiu
发明人： Owe Orwar , Anders Lundqvist , Peter Eriksson , Daniel Chiu
IPC分类号： C12N1/42
CPC分类号： A61N1/327 , A61N1/306 , C12M35/02 , C12N13/00
摘要： The invention relates to a method for permeabilization of a cell structure consisting of a single cell, an intracellular structure or an organelle comprising the following steps: (a) microelectrodes, preferably two carbon fiber electrodes or hollow fiber electrodes, are provided, (b) the microelectrodes are connected to a power supply, (c) the electrodes, individually controlled by high-graduation micromanipulators, are placed close to the cell structure at an appropriate inter-electrode distance, and (d) a highly focused electric field of a strength sufficient to obtain electroporation is applied between the electrodes. The method may be used in order to transfer cell impermeant solutes, such as drugs or genes, into the cell structure or out of the cell structure, in biosensors, in the treatment of tumours and neurodegenerative diseases and in the study of biophysical processes.
摘要翻译：本发明涉及一种由单细胞，细胞内结构或细胞器组成的细胞结构透化的方法，包括以下步骤：（a）提供微电极，优选两个碳纤维电极或中空纤维电极，（b）微电极连接到电源，（c）由高分辨率显微操纵器单独控制的电极以适当的电极间距放置在电池结构附近，以及（d）强度高的聚焦电场足以获得电穿孔的电极。可以使用该方法以将细胞不透性溶质（例如药物或基因）转移到细胞结构或细胞结构，生物传感器中，在治疗肿瘤和神经变性疾病中以及在生物物理过程的研究中。

8. 发明授权

US5608619A Robot control system 失效
标题翻译：机器人控制系统
公开(公告)号：US5608619A
公开(公告)日：1997-03-04
申请号：US402502
申请日：1995-03-13
申请人： H.ang.kan Brantmark , Peter Eriksson , Sven-Erik Johansson , Ingemar Reyier
发明人： H.ang.kan Brantmark , Peter Eriksson , Sven-Erik Johansson , Ingemar Reyier
IPC分类号： B25J9/16 , G05B19/18 , G05B19/408 , G05B19/4155 , G05B19/42
CPC分类号： G05B19/408 , B25J9/1661 , G05B2219/34332 , G05B2219/35262 , G05B2219/36558 , G05B2219/40397
摘要： The invention relates to a control system for an industrial robot adapted for storage of user programs which comprise a series of robot instructions. At least one of the robot instructions is arranged as a shell instruction, which constitutes a call to a shell routine (20). The shell routine is associated with a plurality of optional attributes (21a, 21b, 21c) and comprises- a forward list (22) comprising a first set of robot instructions; and- a backward list (23) comprising a second set of robot instructions.The control system comprises a program executor adapted, for forward running of a user program, to execute the shell instructions in accordance with the forward list and, for running the user program backwards, to execute the shell instructions in accordance with the backward list.The invention also relates to a method for controlling an industrial robot. The method comprises creating a plurality of shell routines and testing them in advance. When producing user programs, shell instructions are used which constitute calls to the shell routines created in advance. The user programs are executed by the program executor, and for forward running the shell instructions are carried out in accordance with the forward list, and for backward running the shell instructions are carried out in accordance with the backward list. (FIG. 3)
摘要翻译：本发明涉及适用于存储包括一系列机器人指令的用户程序的工业机器人的控制系统。机器人指令中的至少一个被布置为壳指令，构成对壳程序（20）的调用。壳程序与多个可选属性（21a，21b，21c）相关联，并包括 - 包括第一组机器人指令的前向列表（22）和 - 包括第二组机器人指令的后向列表（23）。该控制系统包括一个程序执行器，其适用于用户程序的前进运行，以根据前向列表执行外壳指令，并且用于向后运行用户程序以根据向后列表执行外壳指令。本发明还涉及一种用于控制工业机器人的方法。该方法包括创建多个shell程序并提前进行测试。当生成用户程序时，使用shell指令构成对预先创建的shell例程的调用。用户程序由程序执行器执行，并且根据前向列表执行shell指令的前向运行，并且为了反向运行，shell指令根据向后列表执行。（图3）

9. 发明授权

US08426205B2 Method for selective electrofusion of at least two fusion partners having cell-like membranes 失效
标题翻译：用于选择性电融合具有细胞样膜的至少两个融合伴侣的方法
公开(公告)号：US08426205B2
公开(公告)日：2013-04-23
申请号：US13555946
申请日：2012-07-23
申请人： Peter Eriksson , Daniel T. Chiu , Alexander Moscho , Owe Orwar , Richard N. Zare
发明人： Peter Eriksson , Daniel T. Chiu , Alexander Moscho , Owe Orwar , Richard N. Zare
IPC分类号： C12N15/06
CPC分类号： C12N15/87 , C12N5/12 , C12N13/00
摘要： Disclosed is a method for selective electrofusion of at least two fusion partners having cell-like membranes and cellular or subcellular dimensions, comprising the following steps: A) the fusion partners are brought into contact with each other and B) an electrical field of a strength sufficient to obtain fusion and highly focused on the fusion partners is applied. The fusion partners are independently selected from the group consisting of a single cell, a liposome, a proteoliposome, a synthetic vesicle, an egg cell, an enucleated egg cell, a sperm cell at any development stage and a plant protoplast.
摘要翻译：公开了一种用于选择性电融合具有细胞样膜和细胞或亚细胞尺寸的至少两个融合伴侣的方法，包括以下步骤：A）使融合伴侣彼此接触并且B）强度的电场足以获得融合并高度集中在融合伙伴上。融合对象独立地选自单细胞，脂质体，蛋白脂质体，合成囊泡，卵细胞，去核卵细胞，任何发育阶段的精细胞和植物原生质体。

10. 发明申请

US20080151859A1 Communication Arrangement In a Base Station In a Cellular Mobile Telephony System 有权
标题翻译：蜂窝移动电话系统中的基站中的通信布置
公开(公告)号：US20080151859A1
公开(公告)日：2008-06-26
申请号：US11816971
申请日：2005-02-28
申请人： Mikael Johansson , Lars Blomstergren , Peter Eriksson , Mans Cederlof
发明人： Mikael Johansson , Lars Blomstergren , Peter Eriksson , Mans Cederlof
IPC分类号： H04J3/16
CPC分类号： H04L12/40169 , H04L49/351 , H04L49/552 , H04W28/06 , H04W40/00 , H04W48/08 , H04W74/06 , H04W84/042 , H04W88/08
摘要： The invention discloses an arrangement (100) in a base station in a cellular mobile telephony system, comprising a first plurality (120-160) of Printed Circuit Boards (PCB:s) and a second plurality of switches (110,190). Each of the PCB:s (120-160) in said first plurality is connected to each of the switches (110,190) in said second plurality. Each of the switches (110,190) is equipped with means for communicating with and polling each of the PCB:s (120-160) at predetermined intervals, said polling being with regard to the status of the PCB. The switches are equipped with means for distributing status information to the individual PCB:s as an outcome of said polling, and the PCB:s are equipped with means for communicating with each other via one, several, or all of the switches, and said communicating means in the PCB:s are arranged to choose routes of communication based on said status information received from the switches.
摘要翻译：本发明公开了一种在蜂窝移动电话系统中的基站中的一种装置（100），其包括第一多个（120-160）的印刷电路板（PCB）和第二多个开关（110,190）。所述第一多个中的每个PCB（s）（120-160）在所述第二多个中连接到每个开关（110,190）。每个开关（110,190）配备有用于以预定间隔与每个PCB（120-160）进行通信和轮询的装置，所述轮询关于PCB的状态。所述开关装备有用于将状态信息分配给各个PCB的装置作为所述轮询的结果，并且所述PCB装备有用于经由一个，多个或所有开关相互通信的装置，并且所述 PCB中的通信装置被配置为基于从交换机接收的所述状态信息来选择通信路线。

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