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1. 发明申请

US20130184867A1 ROBOT AND METHOD TO RECOGNIZE AND HANDLE EXCEPTIONAL SITUATIONS 有权
标题翻译：机器人和识别和处理特殊情况的方法
公开(公告)号：US20130184867A1
公开(公告)日：2013-07-18
申请号：US13738485
申请日：2013-01-10
申请人： Samsung Electronics Co., Ltd.
发明人： Jun Won Jang , Kyung Shik Roh
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/33002 , G05B2219/33056 , G05B2219/45108
摘要： A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation occur. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.
摘要翻译：用于识别和处理异常情况的机器人和方法包括用于感测机器人的内部和外部信息的感测单元，用于存储由感测单元感测的信息的存储单元，推理模型，学习模型，机器人可提供的服务提供服务的子任务，以及处理异常情况的处理任务，以及控制器，用于在通过存储单元中的学习模型执行提供所选服务的子任务时，确定是否发生异常情况，并选择处理如果确定异常情况发生，则通过存储单元中的推理模型处理异常情况的任务。即使由于机器人的设计者定义的数据，由于噪声或操作环境，机器人也可以识别和处理异常情况。

2. 发明授权

US09132547B2 Robot and method to recognize and handle abnormal situations 有权
标题翻译：识别和处理异常情况的机器人和方法
公开(公告)号：US09132547B2
公开(公告)日：2015-09-15
申请号：US13738485
申请日：2013-01-10
申请人： Samsung Electronics Co., Ltd.
发明人： Jun Won Jang , Kyung Shik Roh
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/33002 , G05B2219/33056 , G05B2219/45108
摘要： A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation has occurred. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.
摘要翻译：用于识别和处理异常情况的机器人和方法包括用于感测机器人的内部和外部信息的感测单元，用于存储由感测单元感测的信息的存储单元，推理模型，学习模型，机器人可提供的服务提供服务的子任务，以及处理异常情况的处理任务，以及控制器，用于在通过存储单元中的学习模型执行提供所选服务的子任务时，确定是否发生异常情况，并选择处理如果确定发生异常情况，则通过存储单元中的推理模型来处理异常情况。即使由于机器人的设计者定义的数据，由于噪声或操作环境，机器人也可以识别和处理异常情况。

3. 发明授权

US09305569B2 Dialogue system and method for responding to multimodal input using calculated situation adaptability 有权
标题翻译：使用计算情况适应性的对话系统和响应多模态输入的方法
公开(公告)号：US09305569B2
公开(公告)日：2016-04-05
申请号：US14243477
申请日：2014-04-02
申请人： SAMSUNG ELECTRONICS CO., LTD
发明人： Jun Won Jang , Woo Sup Han
IPC分类号： G10L15/00 , G10L21/00 , G10L25/00 , G06K9/00 , G10L15/22 , G06F17/30
CPC分类号： G10L25/00 , G06F17/3074 , G06K9/00892 , G10L15/22 , G10L2015/227
摘要： A dialogue system and a method for the same are disclosed. The dialogue system includes a multimodal input unit receiving speech and non-speech information of a user, a domain reasoner, which stores a plurality of pre-stored situations, each of which is formed by a combination one or more speech and non-speech information, calculating each adaptability of the pre-stored situations on the basis of a generated situation based on the speech and the non-speech information received from the multimodal input unit, and determining a current domain according to the calculated adaptability, a dialogue manager to select a response corresponding to the current domain, and a multimodal output unit to output the response. The dialogue system performs domain reasoning using a situation including information combinations reflected in the domain reasoning process, current information, and a speech recognition result, and reduces the size of a dialogue search space while increasing domain reasoning accuracy.
摘要翻译：公开了对话系统及其方法。该对话系统包括接收用户的语音和非语音信息的多模式输入单元，域内推理器，其存储多个预先存储的情况，每个预先存储的情况通过组合形成一个或多个语音和非语音信息基于从多模式输入单元接收到的语音和非语音信息，基于生成的情况来计算预先存储的情况的每个适应性，以及根据所计算的适应性来确定当前域，对话管理器选择对应于当前域的响应，以及输出响应的多模式输出单元。对话系统使用包括域推理过程，当前信息和语音识别结果中反映的信息组合的情况进行域推理，并且在增加域推理精度的同时减小对话搜索空间的大小。

4. 发明授权

US09561081B2 Control methods of single-port surgical robots 有权
标题翻译：单端口手术机器人的控制方法
公开(公告)号：US09561081B2
公开(公告)日：2017-02-07
申请号：US14014457
申请日：2013-08-30
申请人： Samsung Electronics Co., Ltd.
发明人： Jun Won Jang , Hyun Do Choi , Hyung Joo Kim , Yo An Lim
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37
摘要： A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.
摘要翻译：单端口手术机器人的控制方法，包括具有肘部和末端执行器的手术器械的从属装置的单端口手术机器人以及用于控制从属装置的运动的主装置可以包括设置虚拟切口到任意位置; 设置末端执行器的操作位置; 使用虚拟切口的设定位置和末端执行器的设定操作位置来计算肘部的目标位置; 使用所述肘部的计算目标位置计算用于移动所述肘部的每个关节的移动角; 和/或使用计算出的肘部的目标位置和末端执行器的设定操作位置来计算用于移动末端执行器的每个关节的移动角度。

5. 发明授权

US09120225B2 Robot and control method for the same 有权
标题翻译：机器人和控制方法相同
公开(公告)号：US09120225B2
公开(公告)日：2015-09-01
申请号：US13686061
申请日：2012-11-27
申请人： Samsung Electronics Co., Ltd.
发明人： Jun Won Jang , Kyung Shik Roh
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , G05B2219/39486 , G05B2219/39497 , G05B2219/39531 , G05B2219/39536
摘要： A robot, which may accurately detect whether or not the robot is gripping an object, even without a tactile sensor, as a result of using a sorter that utilizes a torque generated from a joint of a hand and the shape of the hand as feature data, and a control method for the robot includes a state sensing unit to sense a state of the robot, a feature vector producing unit to extract feature data from the state sensing unit and to produce a feature vector using the feature data, and a learning-based data sorter to judge an operating state of the robot using the feature vector produced by the feature vector producing unit and to output the judged result.
摘要翻译：作为使用利用从手的关节产生的扭矩和手的形状作为特征数据的分拣机的结果，即使没有触觉传感器也可以准确地检测机器人是否夹持物体的机器人并且所述机器人的控制方法包括感测所述机器人的状态的状态检测部，特征量生成部，从所述状态检测部提取特征数据，并使用所述特征数据生成特征向量，使用由特征矢量产生单元产生的特征向量来判断机器人的操作状态并输出判断结果。

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