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1. 发明申请

WO1996014967A1 METHOD FOR PLANNING/CONTROLLING ROBOT MOTION 审中-公开
标题翻译：计算/控制机器人运动的方法
公开(公告)号：WO1996014967A1
公开(公告)日：1996-05-23
申请号：PCT/JP1995002290
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA, LTD.
发明人： AMADA COMPANY, LIMITED , U.S. AMADA, LTD. , BOURNE, David, Alan , KRISHNAN, Sivaraj, Sivarama
IPC分类号： B25J09/16
CPC分类号： B25J9/1666 , G05B2219/40421 , G05B2219/40444 , G05B2219/40445 , G05B2219/40446 , G05B2219/40458 , G05B2219/40463 , G05B2219/40476 , G05B2219/40488 , G05B2219/40497 , G05B2219/45143
摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon an euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m -1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.
摘要翻译：提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的自由空间内的运动。在执行该方法/系统时，生成一个计划，使得机器人能够通过弯曲装置执行的整个弯曲操作顺序保持和操纵工件。针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且对机器人的至少一部分和限制自由空间的障碍物进行建模。确定关于每个所提出的运动的机器人和障碍物之间是否发生碰撞，并且通过针对运动序列中的每个运动选择不会导致运动的建议运动来生成包括运动序列的计划碰撞，这将使机器人更接近目标位置。在选择拟议的动议时，可以考虑与每个拟议移动相关联的估计费用。估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到目标位置的欧几里德距离，和/或估计成本可以根据机器人行进时间的函数来确定（m -1）运动到第m次运动。提供了不同的方法来执行精细运动规划和总体运动规划。

2. 发明申请

WO2017100234A1 RENEWABLE ENERGY SYSTEM WITH INTEGRATED HOME POWER SUPPLY SYSTEM 审中-公开
标题翻译：集成家用电源系统的可再生能源系统
公开(公告)号：WO2017100234A1
公开(公告)日：2017-06-15
申请号：PCT/US2016/065243
申请日：2016-12-07
申请人： KING ELECTRIC VEHICLES INC.
发明人： KING, Robert Dean
IPC分类号： H02J3/38 , H02J1/12 , H02J3/40 , H02J3/42 , H02J9/06 , H02S10/00
CPC分类号： G05F1/66 , G05B19/048 , G05B2219/40458 , H02J3/382 , H02J7/0072 , H02J7/34 , H02J9/06 , H02J9/062 , Y02B10/72
摘要： A renewable energy system that includes a grid-tied renewable energy source and home power supply system is disclosed. The grid-tied renewable energy source has a first inverter and distribution panel connected thereto on a first connection path. The power supply system is connected to the renewable energy source along a second connection path in parallel with the first connection path, with the power supply system including a voltage modification circuit, at least one energy storage device, and a second inverter, such that the power supply system may output an AC power to the distribution panel via the second connection path. A bi-directional utility meter measures a net flow of AC power output from the first and second inverters and a grid power to the load based on a power requirement of the load, and a controller controls an amount of power received by and output from the power supply system.
摘要翻译：公开了包括并网可再生能源和家庭供电系统的可再生能源系统。并网可再生能源具有在第一连接路径上与其连接的第一逆变器和配电盘。电源系统沿着与第一连接路径并联的第二连接路径连接到可再生能源，其中电源系统包括电压修改电路，至少一个能量存储装置和第二逆变器，使得电力供应系统可以经由第二连接路径向配电盘输出AC电力。双向公用事业计量器基于负载的功率需求来测量从第一和第二逆变器输出的AC功率的净流量以及到负载的电网功率，并且控制器控制由第一和第二逆变器接收并从其输出的功率的量电源系统。

3. 发明申请

WO2014022596A4 SYSTEM, METHOD, AND APPARATUS FOR ELECTRIC POWER GRID AND NETWORK MANAGEMENT OF GRID ELEMENTS 审中-公开
标题翻译：用于电网的网络系统，方法和装置以及网格元件的网络管理
公开(公告)号：WO2014022596A4
公开(公告)日：2014-03-27
申请号：PCT/US2013053095
申请日：2013-07-31
申请人： CAUSAM ENERGY INC
发明人： FORBES JOSEPH W JR
IPC分类号： H02J3/00 , G08B1/08
CPC分类号： H02J13/0062 , G05B11/01 , G05B13/02 , G05B13/0255 , G05B15/02 , G05B19/02 , G05B19/042 , G05B2219/40458 , G05F1/66 , H02J3/00 , H02J3/14 , H02J13/0079 , H02J2003/007 , H04L67/10 , Y02B70/3225 , Y02E60/76 , Y04S20/222 , Y04S20/224 , Y04S40/22
摘要： Systems, methods, and apparatus embodiments for electric power grid and network registration and management of active grid elements. Grid elements are transformed into active grid elements following initial registration of each grid element with the system, preferably through network-based communication between the grid elements and a coordinator, either in coordination with or outside of an IP -based communications network router. A multiplicity of active grid elements function in the grid for supply capacity, supply and/or load curtailment as supply or capacity. Also preferably, messaging is managed through a network by a coordinator using IP messaging for communication with the grid elements, with the energy management system (EMS), and with the utilities, market participants, and/or grid operators.
摘要翻译：用于电网的系统，方法和设备实施例以及有源电网元件的网络注册和管理。在将每个网格元素与系统进行初始注册之后，优选通过网格元素与协调器之间的基于网络的通信，或者与基于IP的通信网络路由器协作或在其外部，将网格元素转换为活动网格元素。电网中有多个有源电网元件用于供电容量，供电和/或负载削减作为供电或容量。同样优选地，协调器使用IP消息传递与网格元件，能量管理系统（EMS）以及公用事业单位，市场参与者和/或电网运营商通过网络管理消息。

4. 发明申请

WO2015145978A1 エネルギー量推定装置、エネルギー量推定方法、及び、記録媒体审中-公开
标题翻译：能量估算装置，能量估算方法和记录介质
公开(公告)号：WO2015145978A1
公开(公告)日：2015-10-01
申请号：PCT/JP2015/001022
申请日：2015-02-27
申请人：日本電気株式会社
发明人：本橋　洋介 , 藤巻　遼平 , 森永　聡 , 江藤　力
IPC分类号： G06Q50/06 , G06Q10/04
CPC分类号： G05F1/66 , G05B13/026 , G05B2219/40458 , G06N7/005 , G06Q10/04 , G06Q50/06
摘要：　高精度にエネルギー量を予測することができるエネルギー量推定装置が開示される。エネルギー量推定装置は、エネルギー量を表す目的変数、及び、当該エネルギー量に影響を与え得る情報を表す１つ以上の説明変数が関連付けされた学習情報において、予測対象である予測情報と類似または一致する特定の学習情報に基づき算出される、該説明変数と該エネルギー量との間の関係に基づき、該予測情報に関する該エネルギー量を予測する予測部を有する。
摘要翻译：公开了能够高精度地预测能量的能量估计装置。所述能量估计装置具有：预测单元，其基于能量量与表示能够影响所述能量的信息的一个或多个说明变量的关系，预测与表示预测对象的预测信息有关的能量。上述关系是基于特定学习信息，在学习信息中计算的，其中表示上述能量量的客观变量与一个或多个解释变量相关联，其与上述预测信息相匹配或类似。

5. 发明申请

WO2015100256A1 UTILITY GRID, INTERMITTENT ENERGY MANAGEMENT SYSTEM 审中-公开
标题翻译：实用网格，间歇能源管理系统
公开(公告)号：WO2015100256A1
公开(公告)日：2015-07-02
申请号：PCT/US2014/071944
申请日：2014-12-22
申请人： PAVLOVSKI, Alexandre , ANICHKOV, Dmitriy
发明人： PAVLOVSKI, Alexandre , ANICHKOV, Dmitriy
IPC分类号： G05B19/00
CPC分类号： G05F1/66 , G05B2219/40458 , G06Q50/06 , H02J3/24 , H02J3/386 , H02J13/00 , H02J2003/003 , Y02E10/763 , Y04S10/54
摘要： A method for controlling an operating condition of an electric power grid, the electric power grid having an intermittent power supply coupled thereto, the method comprising: using an energy variability controller, controlling variability of a delivered power output of the intermittent power supply to the electric power grid by: monitoring an actual environmental value for a location proximate the intermittent power supply, an available power output of the intermittent power supply being dependent on the actual environmental value; when the actual environmental value is increasing and hence the available power output is increasing, increasing the delivered power output according to a predetermined rate of increase; monitoring a forecast environmental value for the location; when the forecast environmental value is decreasing, decreasing the delivered power output according to a predetermined rate of decrease; and, limiting the delivered power output to below a predetermined threshold.
摘要翻译：一种用于控制电力网的运行状态的方法，所述电力网具有与其连接的间歇电源，所述方法包括：使用能量变异控制器，将间歇电力的输出功率输出的变化性控制为电通过以下方式监视电力：监测靠近间歇电源的位置的实际环境值，间歇电源的可用功率输出取决于实际环境值; 当实际环境值增加并且因此可用功率输出增加时，根据预定的增加速率增加输出的功率输出; 监测该地点的预测环境价值; 当预测环境值下降时，按照预定的减小速率降低输出功率输出; 并且将传递的功率输出限制在低于预定阈值。

6. 发明申请

WO2014022929A1 USE OF DISTRIBUTED GENERATOR (DG) INVERTERS AS STATCOMS FOR DECREASING LINE LOSSES 审中-公开
标题翻译：使用分布式发电机（DG）逆变器作为减少线路损耗的状态
公开(公告)号：WO2014022929A1
公开(公告)日：2014-02-13
申请号：PCT/CA2013/050213
申请日：2013-03-15
申请人： VARMA, Rajiv Kumar
发明人： VARMA, Rajiv Kumar
IPC分类号： H02J3/16 , G06Q50/06 , H01L31/042 , H02M7/44
CPC分类号： G05F1/66 , G05B19/0426 , G05B2219/40458 , G05B2219/50083 , H02J3/383 , H02J3/386
摘要： The invention provides systems, methods, and devices relating to the provision of system-wide coordinated control voltage regulation support in power transmission and distribution networks using multiple inverter based power generation facilities, which are coupled to the power transmission and distribution networks for minimizing transmission and distribution line losses. The invention uses a novel control method of inverter based Distributed Generators as Static Synchronous Compensator (STATCOM) in a way that provides a dynamic voltage regulation/control with the inverter capacity remaining after real power generation, thereby decreasing system line losses.
摘要翻译：本发明提供了与使用多个基于逆变器的发电设施的输电和配电网络中提供全系统协调控制电压调节支持相关的系统，方法和设备，其耦合到用于最小化传输的电力传输和配电网络，配电线损耗。本发明采用基于变频器的分布式发电机作为静态同步补偿器（STATCOM）的新颖控制方法，以实际发电后剩余的变频器容量提供动态电压调节/控制，从而降低系统线路损耗。

7. 发明申请

WO2014022596A1 SYSTEM, METHOD, AND APPARATUS FOR ELECTRIC POWER GRID AND NETWORK MANAGEMENT OF GRID ELEMENTS 审中-公开
标题翻译：电力网的系统，方法和装置和网格元素的网络管理
公开(公告)号：WO2014022596A1
公开(公告)日：2014-02-06
申请号：PCT/US2013/053095
申请日：2013-07-31
申请人： CAUSAM ENERGY, INC.
发明人： FORBES, Joseph, W. Jr
IPC分类号： H02J3/00 , G08B1/08
CPC分类号： H02J13/0062 , G05B11/01 , G05B13/02 , G05B13/0255 , G05B15/02 , G05B19/02 , G05B19/042 , G05B2219/40458 , G05F1/66 , H02J3/00 , H02J3/14 , H02J13/0079 , H02J2003/007 , H04L67/10 , Y02B70/3225 , Y02E60/76 , Y04S20/222 , Y04S20/224 , Y04S40/22
摘要： Systems, methods, and apparatus embodiments for electric power grid and network registration and management of active grid elements. Grid elements are transformed into active grid elements following initial registration of each grid element with the system, preferably through network-based communication between the grid elements and a coordinator, either in coordination with or outside of an IP -based communications network router. A multiplicity of active grid elements function in the grid for supply capacity, supply and/or load curtailment as supply or capacity. Also preferably, messaging is managed through a network by a coordinator using IP messaging for communication with the grid elements, with the energy management system (EMS), and with the utilities, market participants, and/or grid operators.
摘要翻译：电力电网的系统，方法和装置实施例以及有源电网元件的网络注册和管理。在首先通过系统首先注册每个网格元素之后，优选地通过与网络元件和协调器之间的基于网络的通信，或者与基于IP的通信网络路由器协调或外部，将网格元素变换为活动网格元素。电网中的多个有源电网元件用于供电能力，供应和/或负载削减作为供应或容量。还优选地，通过协调器通过网络来管理消息传递，所述协调器使用IP消息来与电网元件，能量管理系统（EMS）以及公用事业，市场参与者和/或电网运营商进行通信。

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