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1. 发明授权

US07797079B2 Apparatus for controlling robot and method thereof 有权
标题翻译：用于控制机器人的装置及其方法
公开(公告)号：US07797079B2
公开(公告)日：2010-09-14
申请号：US11591275
申请日：2006-11-01
申请人： Min Su Jang , Joo Chan Sohn , Young Cheol Go , Sang Seung Kang , Young Jo Cho
发明人： Min Su Jang , Joo Chan Sohn , Young Cheol Go , Sang Seung Kang , Young Jo Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D2201/0207
摘要： An apparatus for controlling a robot and a method thereof are provided. The apparatus includes: a state interpretation unit determining whether or not a current situation belongs to a preset unstable state by evaluating the current situation based on a plurality of perception information items; and a target generation unit setting a target action of the robot by comparing the current situation and the determination result with a predetermined value system, and then, modifying the target action by receiving a feedback of the action performance result of the robot as perception information. According to the method and apparatus, by inputting a processing procedure and a value system to solve a variety of unstable states that can occur in situations of a user and circumstances surrounding the robot, the robot can actively respond with actions.
摘要翻译：提供了一种用于控制机器人的装置及其方法。该装置包括：状态解释单元，通过基于多个感知信息项评估当前情况来确定当前情况是否属于预设的不稳定状态; 以及目标产生单元，通过将当前情况与确定结果与预定值系统进行比较来设定机器人的目标动作，然后通过接收作为感知信息的机器人的动作执行结果的反馈来修改目标动作。根据该方法和装置，通过输入处理过程和值系统来解决在用户的情况下可能发生的各种不稳定状态和机器人周围的情况，机器人可以主动地响应于动作。

2. 发明申请

US20070150098A1 Apparatus for controlling robot and method thereof 有权
标题翻译：用于控制机器人的装置及其方法
公开(公告)号：US20070150098A1
公开(公告)日：2007-06-28
申请号：US11591275
申请日：2006-11-01
申请人： Min Su Jang , Joo Chan Sohn , Young Cheol Go , Sang Seung Kang , Young Jo Cho
发明人： Min Su Jang , Joo Chan Sohn , Young Cheol Go , Sang Seung Kang , Young Jo Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D2201/0207
摘要： An apparatus for controlling a robot and a method thereof are provided. The apparatus includes: a state interpretation unit determining whether or not a current situation belongs to a preset unstable state by evaluating the current situation based on a plurality of perception information items; and a target generation unit setting a target action of the robot by comparing the current situation and the determination result with a predetermined value system, and then, modifying the target action by receiving a feedback of the action performance result of the robot as perception information. According to the method and apparatus, by inputting a processing procedure and a value system to solve a variety of unstable states that can occur in situations of a user and circumstances surrounding the robot, the robot can actively respond with actions.
摘要翻译：提供了一种用于控制机器人的装置及其方法。该装置包括：状态解释单元，通过基于多个感知信息项评估当前情况来确定当前情况是否属于预设的不稳定状态; 以及目标产生单元，通过将当前情况与确定结果与预定值系统进行比较来设定机器人的目标动作，然后通过接收作为感知信息的机器人的动作执行结果的反馈来修改目标动作。根据该方法和装置，通过输入处理过程和值系统来解决在用户的情况下可能发生的各种不稳定状态和机器人周围的情况，机器人可以主动地响应于动作。

3. 发明授权

US07599900B2 Method and system for using Bayesian network models in distributed sensor environment 有权
标题翻译：在分布式传感器环境中使用贝叶斯网络模型的方法和系统
公开(公告)号：US07599900B2
公开(公告)日：2009-10-06
申请号：US11600400
申请日：2006-11-15
申请人： Young Cheol Go , Joo Chan Sohn , Young Jo Cho
发明人： Young Cheol Go , Joo Chan Sohn , Young Jo Cho
IPC分类号： G06N5/00
CPC分类号： G06N7/005
摘要： Provided are a method and system for modeling a service using a Bayesian network and status information in a distributed environment. The method includes creating a scenario for modeling at least one service, categorizing the service into models according to properties based on the scenario, setting interrelationships including a chronological relationship, a hierarchical relationship, and correlation between the categorized models, and deriving information including a service goal and status information with respect to the models and completing service modeling. Accordingly, a service provider, which digitally provides various services in a ubiquitous environment, can efficiently and actively provide intelligent services. In addition, since a specific method of modeling a service based on probabilities is provided, an intelligent service is modeled efficiently and diversely.
摘要翻译：提供了一种使用贝叶斯网络建模服务并在分布式环境中的状态信息的方法和系统。该方法包括创建用于对至少一个服务进行建模的场景，根据基于场景的属性将服务分类为模型，设置包括时间关系，分级关系以及分类模型之间的相互关系以及导出包括服务的信息关于模型的目标和状态信息以及完成服务建模。因此，在无处不在的环境中数字地提供各种服务的服务提供商可以有效地并且主动地提供智能服务。另外，由于提供了基于概率建模服务的特定方法，因此智能服务被有效和多样地建模。

4. 发明申请

US20090099693A1 SYSTEM AND METHOD FOR CONTROL OF EMOTIONAL ACTION EXPRESSION 审中-公开
标题翻译：用于控制动作表达的系统和方法
公开(公告)号：US20090099693A1
公开(公告)日：2009-04-16
申请号：US12207714
申请日：2008-09-10
申请人： Sang Seung Kang , Jae Hong Kim , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
发明人： Sang Seung Kang , Jae Hong Kim , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
IPC分类号： G05B15/00
CPC分类号： G06N3/008
摘要： A system for control of emotional action expression including an emotion engine for creating an emotion according to information provided from a plurality of sensors, and an emotional action expression/actuation control unit for detecting an emotion platform profile and an emotion property from the created emotion and determining the action expression corresponding to the created emotion to control a target actuator. A control unit controls the motion of the target actuator under the control of the emotional action expression/actuation control unit.
摘要翻译：一种用于控制情绪动作表达的系统，包括根据从多个传感器提供的信息产生情感的情感引擎，以及用于从所创造的情感中检测情绪平台简档和情感属性的情绪动作表达/激励控制单元，以及确定与创建的情绪相对应的动作表达以控制目标致动器。控制单元在情绪动作表达/激励控制单元的控制下控制目标致动器的运动。

5. 发明授权

US08000500B2 System and method for analyzing of human motion based on silhouettes of real time video stream 有权
标题翻译：基于实时视频流剪影的人体运动分析系统和方法
公开(公告)号：US08000500B2
公开(公告)日：2011-08-16
申请号：US11983138
申请日：2007-11-06
申请人： Chan Kyu Park , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
发明人： Chan Kyu Park , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
IPC分类号： G06K9/00
CPC分类号： G06K9/00335 , G06K9/4642 , G06K9/6212 , G06T7/12 , G06T7/194 , G06T7/75 , G06T7/77 , G06T2207/10016 , G06T2207/20016 , G06T2207/20064 , G06T2207/30196
摘要： A system and method for analyzing the motions of an object based on the silhouettes of the object are provided. The system includes a foreground detector, a contour extractor, a model generator, a corner histogram generator, and a value of similarity measuring unit. The foreground detector detects a moving foreground object from an input image. The contour extractor extracts silhouette contour of the detected foreground object, and the model generator generates mean value histogram models as references to determine motions of the object. The corner histogram generator generates corner histograms of hierarchical multiband in the extracted contour signal, and the value of similarity measuring unit calculates a value of similarity between the generated corner histogram of a current frame and the average model histogram in a histogram unit, measures a value making a value of similarity with the calculated current frame histogram maximum, and determines the measured value as a posture of the object in the current frame.
摘要翻译：提供了一种用于基于对象的轮廓来分析对象的运动的系统和方法。该系统包括前景检测器，轮廓提取器，模型生成器，角直方图生成器和相似度测量单元的值。前景检测器从输入图像检测移动的前景物体。轮廓提取器提取检测到的前景对象的轮廓轮廓，模型生成器生成平均值直方图模型作为参考，以确定对象的运动。角直方图生成器在提取的轮廓信号中生成分层多频带的角直角，相似度测量单元的值计算当前帧的生成角直方图与直方图单元中的平均模型直方图之间的相似度值，测量值与所计算的当前帧直方图最大值进行相似度的值，并将测量值确定为当前帧中的对象的姿势。

6. 发明申请

US20080137950A1 System and method for analyzing of human motion based on silhouettes of real time video stream 有权
标题翻译：基于实时视频流剪影的人体运动分析系统和方法
公开(公告)号：US20080137950A1
公开(公告)日：2008-06-12
申请号：US11983138
申请日：2007-11-06
申请人： Chan Kyu Park , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
发明人： Chan Kyu Park , Joo Chan Sohn , Hyun Kyu Cho , Young Jo Cho
IPC分类号： G06K9/40 , G06K9/00
CPC分类号： G06K9/00335 , G06K9/4642 , G06K9/6212 , G06T7/12 , G06T7/194 , G06T7/75 , G06T7/77 , G06T2207/10016 , G06T2207/20016 , G06T2207/20064 , G06T2207/30196
摘要： A system and method for analyzing the motions of an object based on the silhouettes of the object are provided. The system includes a foreground detector, a contour extractor, a model generator, a corner histogram generator, and a value of similarity measuring unit. The foreground detector detects a moving foreground object from an input image. The contour extractor extracts silhouette contour of the detected foreground object, and the model generator generates mean value histogram models as references to determine motions of the object. The corner histogram generator generates corner histograms of hierarchical multiband in the extracted contour signal, and the value of similarity measuring unit calculates a value of similarity between the generated corner histogram of a current frame and the average model histogram in a histogram unit, measures a value making a value of similarity with the calculated current frame histogram maximum, and determines the measured value as a posture of the object in the current frame.
摘要翻译：提供了一种用于基于对象的轮廓来分析对象的运动的系统和方法。该系统包括前景检测器，轮廓提取器，模型生成器，角直方图生成器和相似度测量单元的值。前景检测器从输入图像检测移动的前景物体。轮廓提取器提取检测到的前景对象的轮廓轮廓，模型生成器生成平均值直方图模型作为参考，以确定对象的运动。角直方图生成器在提取的轮廓信号中生成分层多频带的角直角，相似度测量单元的值计算当前帧的生成角直方图与直方图单元中的平均模型直方图之间的相似度值，测量值与所计算的当前帧直方图最大值进行相似度的值，并将测量值确定为当前帧中的对象的姿势。

7. 发明授权

US09305217B2 Object tracking system using robot and object tracking method using a robot 有权
标题翻译：使用机器人的对象跟踪系统和使用机器人的对象跟踪方法
公开(公告)号：US09305217B2
公开(公告)日：2016-04-05
申请号：US13545558
申请日：2012-07-10
申请人： Dae Ha Lee , Min Su Jang , Seo Hyun Jeon , Young Jo Cho , Jae Hong Kim
发明人： Dae Ha Lee , Min Su Jang , Seo Hyun Jeon , Young Jo Cho , Jae Hong Kim
IPC分类号： G06K9/00 , H04N7/18 , G06K9/20 , G06K9/32 , G06T7/20
CPC分类号： G06K9/00664 , G06K9/2018 , G06K9/3241 , G06T7/215 , G06T2207/30201 , H04N7/18
摘要： Disclosed are an object tracking system using a robot and an object tracking method using a robot. The present invention provides an object tracking system using a robot and an object tracking method using a robot capable of continuously performing object tracking without missing the corresponding object even when the object deviates from a viewing angle of a camera, in tracking an image based object (person) using a robot.
摘要翻译：公开了使用机器人的物体跟踪系统和使用机器人的物体跟踪方法。本发明提供一种使用机器人的对象跟踪系统和使用能够连续执行对象跟踪的对象跟踪方法，即使当对象偏离照相机的视角时，也不会丢失相应的对象，在跟踪基于图像的对象（人）使用机器人。

8. 发明授权

US08579838B2 Multi-sensor signal processing system for detecting walking intent, walking supporting apparatus comprising the system and method for controlling the apparatus 有权
标题翻译：用于检测行走意图的多传感器信号处理系统，包括用于控制装置的系统和方法的步行辅助装置
公开(公告)号：US08579838B2
公开(公告)日：2013-11-12
申请号：US12970538
申请日：2010-12-16
申请人： Eun Hye Jang , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
发明人： Eun Hye Jang , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
IPC分类号： A61H1/00 , A61H1/02 , A61H5/00
CPC分类号： A61H3/008 , A61H1/0266 , A61H3/00 , A61H2201/1623 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5097
摘要： Provided is a walking supporting apparatus for supporting a user walking by using a multi-sensor signal processing system that detects a walking intent. A palm sensor unit detects a force applied to a palm through a stick to generate a palm sensor signal. A sensor unit detects a force applied to a sole through the ground to generate a sole sensor signal. A portable information processing unit checks a user's walking intent by using the palm sensor signal, and if it is checked that the user has a walking intent, the portable information processing unit generates a driving signal in response to the sole sensor signal. A walking supporting mechanism includes a left motor attached to a user's left leg and a right motor attached to a user's right leg to support the user's walking when the left and right motors are driven in response to the driving signal.
摘要翻译：提供了一种用于通过使用检测步行意图的多传感器信号处理系统来支持用户行走的步行辅助装置。手掌传感器单元通过棒检测施加到手掌的力以产生手掌传感器信号。传感器单元检测通过地面施加到鞋底的力以产生唯一的传感器信号。便携式信息处理单元通过使用手掌传感器信号来检查用户的行走意图，并且如果检查到用户具有行走意图，则便携式信息处理单元响应于唯一的传感器信号产生驱动信号。行走支撑机构包括附接到使用者的左腿的左电动机和附接到用户的右腿的右电动机，以响应于驱动信号驱动左右电动机来支持用户的行走。

9. 发明授权

US06173208B2 Method for generating control codes for use in a process control system 失效
标题翻译：用于生成用于过程控制系统的控制代码的方法
公开(公告)号：US06173208B2
公开(公告)日：2001-01-09
申请号：US09058966
申请日：1998-04-13
申请人： Jung Min Park , Young Jo Cho , Woo Jung Huh , Eung Seok Kim
发明人： Jung Min Park , Young Jo Cho , Woo Jung Huh , Eung Seok Kim
IPC分类号： G05B1500
CPC分类号： G05B19/056 , G05B2219/13134
摘要： Structured control codes which control a subject system are generated in a process control system having a user interface of a function block diagram editor including basic function block menus which represent a plurality of predetermined basic function blocks. The structured control codes are generated by the steps of: providing input/output data of the subject system in the form of database; retrieving the input/output data of the subject system; providing the input/output data as an input/output block menu on the user interface of the function block diagram editor; building a control algorithm by using the input/output block menus and the basic function block menus on the user interface; and converting the control algorithm to structured control codes.
摘要翻译：在具有包括表示多个预定基本功能块的基本功能块菜单的功能块图编辑器的用户界面的过程控制系统中生成控制主题系统的结构化控制代码。结构化控制代码通过以下步骤生成：提供数据库形式的主题系统的输入/输出数据; 检索主题系统的输入/输出数据; 在功能块图编辑器的用户界面上提供输入/输出数据作为输入/输出块菜单; 通过使用用户界面上的输入/输出块菜单和基本功能块菜单构建控制算法; 并将控制算法转换为结构化控制代码。

10. 发明授权

US07584284B2 Path-token-based web service caching method 失效
标题翻译：基于路径令牌的Web服务缓存方法
公开(公告)号：US07584284B2
公开(公告)日：2009-09-01
申请号：US11635133
申请日：2006-12-07
申请人： Daeha Lee , Byoung Youl Song , Rockwon Kim , Jin Young Moon , Yeon Jun Kim , Moonyoung Chung , Kyung Il Kim , Seung Woo Jung , Hyeonsung Cho , Young Jo Cho
发明人： Daeha Lee , Byoung Youl Song , Rockwon Kim , Jin Young Moon , Yeon Jun Kim , Moonyoung Chung , Kyung Il Kim , Seung Woo Jung , Hyeonsung Cho , Young Jo Cho
IPC分类号： G06F15/173
CPC分类号： H04L67/02 , H04L67/28 , H04L67/2842
摘要： Provided is a path-token-based web service caching method including determining whether or not stored cache data exists when a web service call request exists, and when the cache data does not exist, creating a predetermined path-token set and a predetermined tag data set based on a message schema of Web Services Description Language (WSDL), and creating a request Simple Object Access Protocol (SOAP) message, creating a request SOAP message template by using a path-token for the created request SOAP message, and calling the web service, and creating cache data including the tag data set, input values set, the request SOAP message template, the request SOAP message, and SOAP binding information. Accordingly, the method can solve the problems of a conventional web service caching method whereby the method can not cope with change in the number of inputs, and an exact input position is not searched for when an input value is changed. Therefore, it is possible to implement an efficient web service call environment by web service caching.
摘要翻译：提供了一种基于路径令牌的Web服务高速缓存方法，包括当存在web服务呼叫请求时确定是否存在存储的高速缓存数据，并且当高速缓存数据不存在时，创建预定路径令牌集和预定标签数据基于Web服务描述语言（WSDL）的消息模式进行设置，并创建请求简单对象访问协议（SOAP）消息，通过使用创建的请求SOAP消息的路径令牌来创建请求SOAP消息模板，并调用 Web服务，以及创建包括标签数据集，输入值集，请求SOAP消息模板，请求SOAP消息和SOAP绑定信息的缓存数据。因此，该方法可以解决传统的web服务缓存方法的问题，由此该方法不能应付输入数量的变化，并且当输入值改变时，不搜索精确的输入位置。因此，可以通过Web服务缓存来实现高效的Web服务呼叫环境。

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