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    • 2. 发明申请
    • CONTROL SYSTEM AND METHOD FOR ENERGY CAPTURE SYSTEM
    • 控制系统和能量捕获系统的方法
    • WO2017182659A1
    • 2017-10-26
    • PCT/EP2017/059567
    • 2017-04-21
    • NATIONAL UNIVERSITY OF IRELAND MAYNOOTH
    • RINGWOOD, JohnGENEST, Romain
    • F03B13/14F03B15/00G05B13/04
    • F03B11/008F03B13/14F03B15/00F05B2260/821F05B2260/84G05B13/04G05B13/042Y02E10/38
    • A computer-implemented method of controlling a power take-off (PTO) of an energy converter apparatus having at least one body which receives energy from their environment and whose energy is absorbed by said PTO is described. The method involves: (a) receiving an input describing the motion of the at least one body making up the apparatus; (b) predicting the excitation force F ex which will be incident on the body over a prediction horizon H p , by approximating said excitation force using generalised truncated half-range Chebyshev-Fourier (HRCF) basis functions; (c) solving an optimal control problem, defined in terms of optimising a cost function J representing the energy absorbed by the PTO over the prediction horizon H p , using a HRCF pseudospectral optimal control wherein the state and control variables are approximated by their truncated half-range Chebyshev Fourier series to generate an optimal reference trajectory; (d) providing as an output to said PTO a control signal adapted to cause the PTO to approximate said optimal reference trajectory; and (e) repeating steps (a) to (d) after a calculation interval Tc where Tc
    • 描述了一种控制能量转换装置的动力输出装置(PTO)的计算机实现的方法,该能量转换装置具有至少一个从其环境接收能量并且其能量被所述PTO吸收的物体。 该方法包括:(a)接收描述组成装置的至少一个主体的运动的输入; (b)通过使用广义截断半范围契比雪夫方法来近似所述激励力,预测将在预测层H p上进入身体的激励力F ex = ex, 傅里叶(HRCF)基函数; (c)使用HRCF伪谱最佳控制来解决最优控制问题,所述最优控制问题是根据优化表示由PTO在预测范围H p上吸收的能量的成本函数J来定义的,其中状态和控制 变量通过它们的截断半范围切比雪夫傅立叶级数来近似以生成最佳参考轨迹; (d)向所述PTO提供适合于使所述PTO近似所述最佳参考轨迹的控制信号作为输出; 和(e)在计算间隔Tc之后重复步骤(a)至(d),其中Tc < 马力。
    • 4. 发明申请
    • AUDIO WATERMARKING
    • 音频水印
    • WO2011160966A1
    • 2011-12-29
    • PCT/EP2011/059688
    • 2011-06-10
    • NATIONAL UNIVERSITY OF IRELAND, MAYNOOTHWANG, JianHEALY, RonTIMONEY, Joseph
    • WANG, JianHEALY, RonTIMONEY, Joseph
    • G10L19/00
    • G10L19/018
    • A method of providing a digital watermark in an audio signal comprises selecting a key frequency value determining how watermark information is to be embedded into a first time frame of the audio signal. A plurality of discrete frequency component values of the audio signal is provided for the first time frame. At least two frequency components for the time frame are selected as a function of the key frequency value. The two frequency components are tested to determine if they meet a given mutual criterion for the signal in the first time frame. If the components do not meet the criterion, the magnitude of at least one of the two frequency components is adjusted in the first time frame.
    • 一种在音频信号中提供数字水印的方法包括:选择确定水印信息如何被嵌入到音频信号的第一时间帧中的关键频率值。 在第一时间帧中提供音频信号的多个离散频率分量值。 作为键频率值的函数,选择用于时间帧的至少两个频率分量。 测试两个频率分量以确定它们是否满足在第一时间帧中的信号的给定相互准则。 如果组件不符合标准,则在第一时间帧中调整两个频率分量中的至少一个的幅度。
    • 8. 发明申请
    • A METHOD FOR MAPPING AN ENVIRONMENT
    • 一种绘制环境的方法
    • WO2014202258A1
    • 2014-12-24
    • PCT/EP2014/058079
    • 2014-04-22
    • NATIONAL UNIVERSITY OF IRELAND, MAYNOOTHMASSACHUSETTS INSTITUTE OF TECHNOLOGY
    • LEONARD, John JosephKAESS, MichaelMCDONALD, JohnWHELAN, Thomas John
    • G06T7/00
    • G06T7/0071G06T7/579G06T2200/04G06T2200/08G06T2207/10016G06T2207/10024G06T2207/10028G06T2207/20072G06T2207/30241G06T2207/30244G06T2207/30252
    • A method for mapping an environment comprises moving a sensor along a path from a start location (P0) through the environment, the sensor generating a sequence of images, each image associated with a respective estimated sensor location and comprising a point cloud having a plurality of vertices, each vertex comprising an (x,y,z)-tuple and image information for the tuple. The sequence of estimated sensor locations is sampled to provide a pose graph (P) comprising a linked sequence of nodes, each corresponding to a respective estimated sensor location. For each node of the pose graph (P), a respective cloud slice (C) comprising at least of portion of the point cloud for the sampled sensor location is acquired. A drift between an actual sensor location (P i+1 ) and an estimated sensor location (P i ) on the path is determined. A corrected pose graph (P') indicating a required transformation for each node of the pose graph (P) between the actual sensor location (P i+1 ) and the start location (P0) to compensate for the determined drift is provided. The sequence of estimated sensor locations is sampled to provide a deformation graph (N) comprising a linked sequence of nodes, each corresponding to respective estimated sensor locations along the path. For at least a plurality of the vertices in the cloud slices, a closest set of K deformation graph nodes is identified and a respective blending function based on the respective distances of the identified graph nodes to a vertex is determined. Transformation coefficients for each node of the deformation graph are determined as a function of the 20 required transformation for each node of the pose graph (P) to compensate for the determined drift. Tuple coordinates for a vertex are transformed to compensate for sensor drift as a function of the blending function and the transformation coefficients for the K deformation graph nodes closest to the vertex.
    • 用于映射环境的方法包括沿着从开始位置(P0)到环境的路径移动传感器,所述传感器生成图像序列,每个图像与相应的估计的传感器位置相关联,并且包括具有多个 顶点,每个顶点包括(x,y,z)元组和元组的图像信息。 对估计的传感器位置的序列进行采样以提供包括链接的节点序列的姿态图(P),每个节点对应于相应的估计的传感器位置。 对于姿态图(P)的每个节点,获取包括用于采样的传感器位置的点云的至少一部分的相应云切片(C)。 确定路径上的实际传感器位置(Pi + 1)和估计传感器位置(Pi)之间的漂移。 提供了指示实际传感器位置(Pi + 1)和起始位置(P0)之间的姿势图(P)的每个节点所需变换以补偿确定的漂移的校正姿态图(P')。 对估计的传感器位置的序列进行采样以提供包括链接的节点序列的变形图(N),每个节点对应于沿着路径的相应估计的传感器位置。 对于云片中的至少多个顶点,识别最接近的K个变形图节点集合,并且确定基于所识别的图形节点到顶点的相应距离的相应混合函数。 变形图的每个节点的变换系数被确定为姿态图(P)的每个节点的20个所需变换的函数,以补偿所确定的漂移。 转换顶点的元组坐标作为混合函数的函数和最接近顶点的K变形图节点的变换系数的传感器漂移进行补偿。
    • 9. 发明申请
    • A METHOD AND SYSTEM FOR PROVIDING A TEXT MESSAGING SERVICE
    • 一种用于提供文本消息传递服务的方法和系统
    • WO2010089642A1
    • 2010-08-12
    • PCT/IB2010/000145
    • 2010-01-28
    • NATIONAL UNIVERSITY OF IRELAND, MAYNOOTHVILLEGAS, Carlos
    • VILLEGAS, Carlos
    • G01R31/08
    • H04W4/12H04L63/083H04W12/06
    • A method for sending text messages operates in a server in communication with a client and a messaging service server across a packet switched network. The method comprises receiving information from a user at the client across the network; and responsive to the information identifying a member of a messaging service who has authorised the user to avail of the member's messaging service, the messaging service enabling the member to send text messages addressed to a destination phone number, retrieving credentials associated with the member's phone account. The server accesses the member's account at a messaging service server using the credentials; and sends a text message to a destination from the message service server using the member's account.
    • 用于发送文本消息的方法在通过分组交换网络与客户端和消息收发服务服务器通信的服务器中进行操作。 该方法包括:通过网络从客户端接收来自用户的信息; 并且响应于识别已经授权用户使用该成员的消息传递服务的消息收发服务的成员的信息,该消息服务使该成员能够发送寻址到目的地电话号码的文本消息,检索与该成员的电话帐户相关联的凭证 。 服务器使用凭据访问消息服务服务器上的成员帐户; 并使用会员的帐户从消息服务服务器向目的地发送短信。