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    • 7. 发明授权
    • Back-flow prevention device and method for ink jet printer
    • 喷墨打印机的防回流装置及方法
    • US06431688B1
    • 2002-08-13
    • US09664524
    • 2000-09-18
    • Kyu-Ho ShinSung-Hee Lee
    • Kyu-Ho ShinSung-Hee Lee
    • B41J205
    • B41J2/14048B41J2/055
    • An inkjetting apparatus includes a nozzle module, a driving module, and a membrane. The nozzle module includes an ink chamber for reserving ink, and a nozzle hole for permitting ink in the ink chamber to be jetted therethrough. The driving module includes a working fluid chamber, and a heater located in the working fluid chamber. The membrane serves as a partition between the ink chamber and the working fluid chamber. The membrane includes an ink injecting hole for interconnecting an ink injecting passage through which the ink is fed from an external ink source, with the working fluid chamber, and an interconnecting hole for interconnecting the working fluid chamber with the ink chamber to permit ink in the working fluid chamber to be fed into the ink chamber. The ink injecting hole and/or the interconnecting hole have neck modules for narrowing the ink injecting hole and/or the interconnecting hole to a size smaller than the inner diameters of the ink chamber and the working fluid chamber, respectively. Due to the presence of the neck modules, the sizes of the ink injecting hole and/or the interconnecting hole are smaller than the inner diameters of the ink flowing passage, so that any back flow of ink is prevented during the ink jetting process.
    • 喷墨设备包括喷嘴模块,驱动模块和膜。 喷嘴模块包括用于储存墨水的墨水室和用于允许墨水室中的墨水被喷射通过的喷嘴孔。 驱动模块包括工作流体室和位于工作流体室中的加热器。 该膜用作墨水室和工作流体室之间的隔板。 膜包括用于将油墨从外部油墨源供给的油墨注入通道与工作流体室相互连接的油墨注入孔,以及用于将工作流体室与油墨室相互连接的互连孔, 工作流体室被送入墨水室。 墨水注入孔和/或互连孔具有用于将墨水注入孔和/或互连孔变窄到分别小于墨水室和工作流体室的内径的尺寸的颈部模块。 由于颈部模块的存在,墨水注入孔和/或互连孔的尺寸小于墨水流动通道的内径,从而在喷墨过程中防止了墨水的任何反向流动。
    • 9. 发明授权
    • Momentum-based balance controller for humanoid robots on non-level and non-stationary ground
    • 基于动量的平衡控制器,用于非水平和非静止地面的人形机器人
    • US09367795B2
    • 2016-06-14
    • US13580477
    • 2011-02-24
    • Sung-Hee LeeAmbarish Goswami
    • Sung-Hee LeeAmbarish Goswami
    • G05B15/00G06N3/00B62D57/032
    • G06N3/008B62D57/032
    • A momentum-based balance controller controls a humanoid robot to maintain balance. The balance controller derives desired rates of change of linear and angular momentum from desired motion of the robot. The balance controller then determines desired center of pressure (CoP) and desired ground reaction force (GRF) to achieve the desired rates of change of linear and angular momentum. The balance controller determines admissible CoP, GRF, and rates of change of linear and angular momentum that are optimally close to the desired value while still allowing the robot to maintain balance. The balance controller controls the robot to maintain balance based on a human motion model such that the robot's motions are human-like. Beneficially, the robot can maintain balance even when subjected to external perturbations, or when it encounters non-level and/or non-stationary ground.
    • 基于动量的平衡控制器控制人形机器人以保持平衡。 平衡控制器从机器人的期望运动中获得线性和角动量的所需变化率。 然后平衡控制器确定所需的压力中心(CoP)和所需的地面反作用力(GRF),以实现所需的线性和角动量变化率。 平衡控制器确定线性和角动量的允许CoP,GRF和最佳接近期望值的变化率,同时仍允许机器人保持平衡。 平衡控制器控制机器人基于人体运动模型保持平衡,使得机器人的运动是类似人体的。 有利地,机器人即使在受到外部扰动时也可以保持平衡,或者当遇到非水平和/或非静止地面时,机器人可以保持平衡。