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1. 发明授权

US06282461B1 Independent tube position verification system 有权
标题翻译：独立管位置验证系统
公开(公告)号：US06282461B1
公开(公告)日：2001-08-28
申请号：US09349981
申请日：1999-07-09
申请人： Zhongxue Gan , Lance T. Fitzgibbons , Jeffrey S. Katz
发明人： Zhongxue Gan , Lance T. Fitzgibbons , Jeffrey S. Katz
IPC分类号： G05B1500
CPC分类号： G06T7/0004 , B25J9/1697 , G05B2219/37614 , G05B2219/40613 , G05B2219/4701 , G06T7/74 , G06T7/80
摘要： An independent tube position verification system includes a TV camera (16) mounted on an end effector (EE) of a robotic arm (20) mounted in a steam generator (10) beneath the tube sheet (12) to visually track changes in position as the end effector (EE) is moved across the tube sheet (12) by a robotic arm (20). The tube sheet (12) and the tube ends (14) thereof are illuminated by one or more light sources (18) at an oblique angle to cause the desirable presence of shadows in the field of view. The TV camera (16) outputs successive image frames so that displacement of a artifact in the image field in successive frames yields physical displacement information which is converted into velocity and direction information. Changes in position determined by the verification system are compared against position information maintained by the robotic arm (20); any mis-match indicates a loss of tracking integrity requiring a system re-calibration.
摘要翻译：独立管位置验证系统包括安装在安装在管板（12）下方的蒸汽发生器（10）中的机器人臂（20）的末端执行器（EE）上的电视摄像机（16），以可视地跟踪位置变化端部执行器（EE）通过机械手臂（20）移动穿过管板（12）。管板（12）及其管端（14）由一个或多个光源（18）以倾斜角度照射，从而在视野中产生希望的阴影存在。电视摄像机（16）输出连续的图像帧，使得连续帧中的图像场中的伪影的位移产生被转换成速度和方向信息的物理位移信息。将由验证系统确定的位置的变化与由机器人臂（20）维护的位置信息进行比较; 任何错误表示丢失跟踪完整性，需要进行系统重新校准。

2. 发明申请

US20130073098A1 SYSTEM ENERGY EFFICIENCY CONTROLLER, ENERGY EFFICIENCY GAIN DEVICE AND SMART ENERGY SERVICE SYSTEM USED FOR ENERGY UTILIZATION 有权
标题翻译：系统能源效率控制器，能源效率增益装置和用于能源利用的智能能源服务系统
公开(公告)号：US20130073098A1
公开(公告)日：2013-03-21
申请号：US13695153
申请日：2011-04-29
申请人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
发明人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
IPC分类号： G05B19/02
CPC分类号： G05B19/02 , H02J3/32 , H02J3/38 , H02J3/381 , H02J3/382 , H02J3/383 , H02J3/386 , Y02E10/563 , Y02E10/566 , Y02E10/763 , Y02E70/30 , Y02P80/114
摘要： A system energy efficiency controller connected (105) to at least one of an energy generation device (101), an energy storage device (102), an energy utilization device (103) and an energy regeneration device (104) is disclosed for enabling energy utilization. Said system energy efficiency controller (105) cooperatively controls the input and output of a ubiquitous energy flow of at least one of the energy generation device (101), the energy storage device (102), the energy utilization device (103) and the energy regeneration device (104). Said ubiquitous energy flow includes at least one of an energy flow, a material flow, and an information flow. Also disclosed are an energy efficiency gain device, an energy efficiency matching station and a smart energy service system, which are connected with the controller (105). The present invention optimizes the entire process of energy utilization using the system energy efficiency controller (105), thus improving the system energy efficiency.
摘要翻译：公开了一种将系统能量效率控制器（105）连接到能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量再生装置（104）中的至少一个上，以使能量利用率。所述系统能量效率控制器（105）协同地控制能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量中的至少一个的无处不在的能量流的输入和输出再生装置（104）。所述普遍存在的能量流包括能量流，材料流和信息流中的至少一个。还公开了与控制器（105）连接的能量效率增益装置，能量效率匹配台和智能能源服务系统。本发明使用系统能量效率控制器（105）优化整个能量利用过程，从而提高系统能量效率。

3. 发明授权

US07181314B2 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US07181314B2
公开(公告)日：2007-02-20
申请号：US10720592
申请日：2003-11-24
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

4. 发明授权

US5751610A On-line robot work-cell calibration 失效
标题翻译：在线机器人工作单元校准
公开(公告)号：US5751610A
公开(公告)日：1998-05-12
申请号：US741898
申请日：1996-10-31
申请人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
发明人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
IPC分类号： F22B37/00 , G01C25/00
CPC分类号： F22B37/003
摘要： The work cell is divided into a plurality of calibration zones, and calibration is made with only one measured point in each zone. The calibration zones are set up such that the calibration error in each zone remains within an acceptable tolerance. Within each zone, calibration is preferably made according to a linear calibration algorithm. The method according to the invention includes the steps of storing a first database, of the coordinates of all the tube openings in the tube sheet coordinate system. Each coordinate of the first database is assigned to one of a plurality of calibration zones.
摘要翻译：工作单元被分成多个校准区域，并且在每个区域中仅用一个测量点进行校准。设置校准区域使得每个区域中的校准误差保持在可接受的公差范围内。在每个区域内，优选根据线性校准算法进行校准。根据本发明的方法包括以下步骤：在管板坐标系中存储所有管开口的坐标的第一数据库。将第一数据库的每个坐标分配给多个校准区域中的一个。

5. 发明授权

US09011671B2 Coal processing method by using characteristics of sub-critical and supercritical water 有权
标题翻译：采用亚临界和超临界水特征的煤加工方法
公开(公告)号：US09011671B2
公开(公告)日：2015-04-21
申请号：US13140798
申请日：2009-12-17
申请人： Junjie Gu , Jinlai Li , Zhongxue Gan
发明人： Junjie Gu , Jinlai Li , Zhongxue Gan
IPC分类号： C10G1/00 , C10L3/08 , C10J3/72 , C10J3/78 , C10L9/08 , C10L1/32
CPC分类号： C10L3/08 , C10J3/721 , C10J3/78 , C10J2300/093 , C10J2300/0979 , C10J2300/0986 , C10L1/326 , C10L9/086 , Y02P20/145 , Y02P20/544
摘要： A coal processing method includes adding coal powder, water and catalyst into a series of tandem reactors and processing therein, wherein the coal powder, water and catalyst are added into the first reactor of the series of tandem reactors; and the temperature and pressure of the series reactors is alternatively arranged in sub-critical state and supercritical state of water from the first reactor, the total product from the previous reactor is used as the feed of the next reactor without any further separation.
摘要翻译：煤加工方法包括将煤粉，水和催化剂加入到一系列串联反应器中并在其中加工，其中将煤粉，水和催化剂加入到串联反应器系列的第一反应器中; 并且将串联反应器的温度和压力交替地布置在来自第一反应器的亚临界状态和超临界状态的水中，来自前一反应器的总产物用作下一反应器的进料而不进一步分离。

6. 发明授权

US07340323B2 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US07340323B2
公开(公告)日：2008-03-04
申请号：US11653638
申请日：2007-01-16
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B15/00
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

7. 发明申请

US20060178775A1 Accelerometer to monitor movement of a tool assembly attached to a robot end effector 审中-公开
标题翻译：加速度计，用于监测连接到机器人端部执行器的工具组件的运动
公开(公告)号：US20060178775A1
公开(公告)日：2006-08-10
申请号：US11051383
申请日：2005-02-04
申请人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
发明人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , B25J9/0081 , B25J13/02 , G05B2219/36473 , G05B2219/40547 , G05B2219/40549
摘要： An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.
摘要翻译：加速度计安装在机器人上以监测附接到机器人端部执行器的工具组件的运动，以用于安全监控目的。加速度计向机器人控制器提供输出信号，该控制器用于监视机器人运动，并且在机器人的导通教导期间检测到加速度，速度和距离的预定值时停止该运动。手柄可以连接到机器人端部执行器，并且加速度计可以安装在手柄上。

8. 发明授权

US5572449A Automatic vehicle following system 失效
标题翻译：自动车辆跟随系统
公开(公告)号：US5572449A
公开(公告)日：1996-11-05
申请号：US245865
申请日：1994-05-19
申请人： Qing Tang , Wei-Ping Wang , Zhongxue Gan , Ruiming Zhang , John Moh
发明人： Qing Tang , Wei-Ping Wang , Zhongxue Gan , Ruiming Zhang , John Moh
IPC分类号： B60K31/00 , B60T7/22 , G01S13/93 , B60T7/16
CPC分类号： B60T7/22 , B60K31/0008 , B60W2550/402 , G01S2013/9321
摘要： An automatic vehicle following system is provided for controlling a following vehicle to maintain at least a predetermined distance behind a preceding vehicle and to substantially follow the path of the preceding vehicle. An on-line measurement system of the preceding vehicle generates signals indicative of the velocity (having speed and directional components) of the preceding vehicle, and a communication system transmits the velocity signals to the following vehicle. The following vehicle likewise has a communication system for receiving the signals from the preceding vehicle, and an on-line measurement system for providing signals indicative of the velocity of the following vehicle and signals indicative of the distance between the two vehicles. A signal processing system of the following vehicle is coupled to the communication system and on-line measurement system for estimating motion trajectory of the preceding vehicle based on the difference in the velocities of the preceding and following vehicles and the following distance. A control system generates control signals and takes action so as to perform speed control and maintain at least a predetermined safe following distance between the two vehicles, and steering control to substantially follow the path of the preceding vehicle.
摘要翻译：提供了一种自动车辆跟随系统，用于控制后续车辆至少保持在前一车辆后面的预定距离并且基本上跟随前方车辆的路径。前一车辆的在线测量系统产生指示前一车辆的速度（具有速度和方向分量）的信号，并且通信系统将速度信号发送到随后的车辆。以下车辆同样具有用于接收来自前一车辆的信号的通信系统和用于提供表示随后车辆的速度的信号的在线测量系统以及指示两车辆之间的距离的信号。以下车辆的信号处理系统耦合到通信系统和在线测量系统，用于基于前一车辆和后续车辆的速度的差异以及随后的距离来估计前一车辆的运动轨迹。控制系统产生控制信号并采取动作以便执行速度控制并且保持两辆车辆之间至少预定的安全跟随距离，并且转向控制基本上跟随前方车辆的路径。

9. 发明授权

US09690275B2 System energy efficiency controller, energy efficiency gain device and smart energy service system used for energy utilization 有权
公开(公告)号：US09690275B2
公开(公告)日：2017-06-27
申请号：US13695153
申请日：2011-04-29
申请人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
发明人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
IPC分类号： G05B19/02 , H02J3/32 , H02J3/38
CPC分类号： G05B19/02 , H02J3/32 , H02J3/38 , H02J3/381 , H02J3/382 , H02J3/383 , H02J3/386 , Y02E10/563 , Y02E10/566 , Y02E10/763 , Y02E70/30 , Y02P80/114
摘要： A system energy efficiency controller connected (105) to at least one of an energy generation device (101), an energy storage device (102), an energy utilization device (103) and an energy regeneration device (104) is disclosed for enabling energy utilization. Said system energy efficiency controller (105) cooperatively controls the input and output of a ubiquitous energy flow of at least one of the energy generation device (101), the energy storage device (102), the energy utilization device (103) and the energy regeneration device (104). Said ubiquitous energy flow includes at least one of an energy flow, a material flow, and an information flow. Also disclosed are an energy efficiency gain device, an energy efficiency matching station and a smart energy service system, which are connected with the controller (105). The present invention optimizes the entire process of energy utilization using the system energy efficiency controller (105), thus improving the system energy efficiency.

10. 发明申请

US20140148964A1 SYSTEM ENERGY EFFICIENCY CONTROLLER IN SMART ENERGY NETWORK, CONTROL METHOD THEREOF, AND CONTROL METHOD FOR TERMINAL DEVICE 有权
标题翻译：智能能源网络中的系统能源效率控制器及其控制方法及终端设备的控制方法
公开(公告)号：US20140148964A1
公开(公告)日：2014-05-29
申请号：US13884963
申请日：2011-11-04
申请人： Zhongxue Gan , Shenglong Dong , Qizhi Cai
发明人： Zhongxue Gan , Shenglong Dong , Qizhi Cai
IPC分类号： G05B15/02
CPC分类号： G05B15/02 , G06Q10/06313 , G06Q50/06 , H02J13/0079 , Y02B70/3216 , Y02E40/76 , Y02E60/74 , Y02P80/114 , Y04S10/30 , Y04S10/545 , Y04S20/221
摘要： A system energy efficiency controller in a smart energy network, a control method thereof, and a control method for a terminal device. The system energy efficiency controller includes a control decision module, a storage module, a power clock module, an internal communication module, and an external communication module. The storage module is connected to the control decision module, and stores temporary and permanent information data in the operation process of the storage system. The power clock module provides an internal clock, achieving timing synchronization of processors on the controller. The internal communication module provides two-way communication between the system energy efficiency controller and control implementation units of multiple terminal devices. The external communication module provides two-way communication between the system energy efficiency controller and a local optimizer. The multiple terminal devices include at least one of the terminal devices for the stages of energy production, storage, application and regeneration.
摘要翻译：智能能源网络中的系统能量效率控制器，其控制方法和终端设备的控制方法。系统能效控制器包括控制决策模块，存储模块，电源时钟模块，内部通信模块和外部通信模块。存储模块连接到控制决策模块，并将临时和永久信息数据存储在存储系统的操作过程中。电源时钟模块提供内部时钟，实现控制器上处理器的时序同步。内部通信模块提供系统节能控制器与多个终端设备的控制实现单元之间的双向通信。外部通信模块提供系统能效控制器和本地优化器之间的双向通信。多个终端设备包括用于能量产生，存储，应用和再生的阶段的终端设备中的至少一个。

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