Patents by Inventor Douglas Forman
Douglas Forman has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10633093Abstract: Provided are systems and methods for monitoring an asset via an autonomous model-driven inspection. In an example, the method may include storing an inspection plan including a virtually created three-dimensional (3D) model of a travel path with respect to a virtual asset that is created in virtual space, converting the virtually created 3D model of the travel path about the virtual asset into a physical travel path about a physical asset corresponding to the virtual asset, autonomously controlling vertical and lateral movement of the unmanned robot in three dimensions with respect to the physical asset based on the physical travel path and capturing data at one or more regions of interest, and capturing data at one or more regions of interest, and storing information concerning the captured data about the asset.Type: GrantFiled: May 5, 2017Date of Patent: April 28, 2020Assignee: GENERAL ELECTRIC COMPANYInventors: Mauricio Castillo-Effen, Ching-Ling Huang, Raju Venkataramana, Roberto Silva Filho, Alex Tepper, Steven Gray, Yakov Polishchuk, Viktor Holovashchenko, Charles Theurer, Yang Zhao, Ghulam Ali Baloch, Douglas Forman, Shiraj Sen, Huan Tan, Arpit Jain
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Patent number: 10607406Abstract: A method for generating a three-dimensional model of an asset includes receiving input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset, generating the mission plan based on the input parameters including information of a representative asset type, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle, generating a flight path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, monitoring a vehicle state of the unmanned vehicle during execution of the flight path from one waypoint to the next waypoint, determining, at each waypoint, a local geometry of the asset sensed by the one or more image sensors, changing the mission plan on-the-fly based on the local geometry, and capturing images of the asset along waypoints of the changed mission plan.Type: GrantFiled: January 25, 2018Date of Patent: March 31, 2020Assignee: GENERAL ELECTRIC COMPANYInventors: Shiraj Sen, Steven Robert Gray, Arpit Jain, Huan Tan, Douglas Forman, Judith Ann Guzzo
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Publication number: 20200039076Abstract: A robotic system is provided that includes a base, an articulable arm, a visual acquisition unit, and a controller. The articulable arm may extend from a base and is movable toward a target. The visual acquisition unit can be mounted to the arm or the base and to acquire image data. The controller is operably coupled to the arm and the visual acquisition unit, and can derive from the image data environmental information corresponding to at least one of the arm or the target. The controller further can generate at least one planning scheme using the environmental information to translate the arm toward the target, select at least one planning scheme for implementation, and control movement of the arm toward the target using the at least one selected planning scheme.Type: ApplicationFiled: October 8, 2019Publication date: February 6, 2020Inventors: Huan Tan, Balajee Kannan, Yonatan Gefen, Romano Patrick, Omar Al Assad, Douglas Forman, Charles Theurer, John Lizzi, Bradford Wayne Miller, James D. Brooks, Neeraja Subrahmaniyan
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Patent number: 10471595Abstract: A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.Type: GrantFiled: October 14, 2016Date of Patent: November 12, 2019Assignee: GE GLOBAL SOURCING LLCInventors: Huan Tan, Balajee Kannan, Yonatan Gefen, Romano Patrick, Omar Al Assad, Douglas Forman, Charles Theurer, John Lizzi
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Patent number: 10452078Abstract: Provided are systems and methods for autonomous robotic localization. In one example, the method includes receiving ranging measurements from a plurality of fixed anchor nodes that each have a fixed position and height with respect to the asset, receiving another ranging measurement from an aerial anchor node attached to an unmanned robot having a dynamically adjustable position and height different than the fixed position and height of each of the plurality of anchor nodes, and determining a location of the autonomous robot with respect to the asset based on the ranging measurements received from the fixed anchor nodes and the aerial anchor node, and autonomously moving the autonomous robot about the asset based on the determined location.Type: GrantFiled: May 10, 2017Date of Patent: October 22, 2019Assignee: GENERAL ELECTRIC COMPANYInventors: Yang Zhao, Mauricio Castillo-Effen, Ghulam Ali Baloch, Huan Tan, Douglas Forman
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Publication number: 20190228573Abstract: A method for generating a three-dimensional model of an asset includes receiving input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset, generating the mission plan based on the input parameters including information of a representative asset type, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle, generating a flight path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, monitoring a vehicle state of the unmanned vehicle during execution of the flight path from one waypoint to the next waypoint, determining, at each waypoint, a local geometry of the asset sensed by the one or more image sensors, changing the mission plan on-the-fly based on the local geometry, and capturing images of the asset along waypoints of the changed mission plan.Type: ApplicationFiled: January 25, 2018Publication date: July 25, 2019Inventors: Shiraj SEN, Steven Robert GRAY, Arpit JAIN, Huan TAN, Douglas FORMAN, Judith Ann GUZZO
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Publication number: 20190204123Abstract: System and methods may evaluate and/or improve target aiming accuracy for a sensor of an Unmanned Aerial Vehicle (“UAV”). According to some embodiments, a position and orientation measuring unit may measure a position and orientation associated with the sensor. A pose estimation platform may execute a first order calculation using the measured position and orientation as the actual position and orientation to create a first order model. A geometry evaluation platform may receive planned sensor position and orientation from a targeting goal data store and calculate a standard deviation for a target aiming error utilizing: (i) location and geometry information associated with the industrial asset, (ii) a known relationship between the sensor and a center-of-gravity of the UAV, (iii) the first order model as a transfer function, and (iv) an assumption that the position and orientation of the sensor have Gaussian-distributed noises with zero mean and a pre-determined standard deviation.Type: ApplicationFiled: January 3, 2018Publication date: July 4, 2019Inventors: Yang ZHAO, Huan TAN, Steven GRAY, Ghulam BALOCH, Mauricio CASTILLO-EFFEN, Judith GUZZO, Shiraj SEN, Douglas FORMAN
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Publication number: 20190193275Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.Type: ApplicationFiled: March 4, 2019Publication date: June 27, 2019Inventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Balajee Kannan, Yonatan Gefen
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Publication number: 20190134821Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.Type: ApplicationFiled: January 4, 2019Publication date: May 9, 2019Inventors: Romano Patrick, Shiraj Sen, Arpit Jain, Huan Tan, Yonatan Gefen, Shuai Li, Shubao Liu, Pramod Sharma, Balajee Kannan, Viktor Holovashchenko, Douglas Forman, John Michael Lizzi, Charles Burton Theurer, Omar Al Assad, Ghulam Ali Baloch, Frederick Wilson Wheeler, Tai-Peng Tian
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Patent number: 10272573Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.Type: GrantFiled: March 2, 2016Date of Patent: April 30, 2019Assignee: GE GLOBAL SOURCING LLCInventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Balajee Kannan, Yonatan Gefen
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Publication number: 20180329433Abstract: Provided are systems and methods for autonomous robotic localization. In one example, the method includes receiving ranging measurements from a plurality of fixed anchor nodes that each have a fixed position and height with respect to the asset, receiving another ranging measurement from an aerial anchor node attached to an unmanned robot having a dynamically adjustable position and height different than the fixed position and height of each of the plurality of anchor nodes, and determining a location of the autonomous robot with respect to the asset based on the ranging measurements received from the fixed anchor nodes and the aerial anchor node, and autonomously moving the autonomous robot about the asset based on the determined location.Type: ApplicationFiled: May 10, 2017Publication date: November 15, 2018Inventors: Yang ZHAO, Mauricio CASTILLO-EFFEN, Ghulam Ali BALOCH, Huan TAN, Douglas FORMAN
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Publication number: 20180330027Abstract: A three-dimensional model data store may contain a three-dimensional model of an industrial asset, including points of interest associated with the industrial asset. An inspection plan data store may contain an inspection plan for the industrial asset, including a path of movement for an autonomous inspection robot. An industrial asset inspection platform may receive sensor data from an autonomous inspection robot indicating characteristics of the industrial asset and determine a current location of the autonomous inspection robot along the path of movement in the inspection plan along with current context information. A forward simulation of movement for the autonomous inspection robot may be executed from the current location, through a pre-determined time window, to determine a difference between the path of movement in the inspection plan and the forward simulation of movement along with future context information.Type: ApplicationFiled: May 10, 2017Publication date: November 15, 2018Inventors: Shiraj SEN, Steven GRAY, Nicholas ABATE, Roberto SILVA FILHO, Ching-Ling HUANG, Mauricio CASTILLO-EFFEN, Ghulam Ali BALOCH, Raju VENKATARAMANA, Douglas FORMAN
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Publication number: 20180321692Abstract: Provided are systems and methods for monitoring an asset via an autonomous model-driven inspection. In an example, the method may include storing an inspection plan including a virtually created three-dimensional (3D) model of a travel path with respect to a virtual asset that is created in virtual space, converting the virtually created 3D model of the travel path about the virtual asset into a physical travel path about a physical asset corresponding to the virtual asset, autonomously controlling vertical and lateral movement of the unmanned robot in three dimensions with respect to the physical asset based on the physical travel path and capturing data at one or more regions of interest, and capturing data at one or more regions of interest, and storing information concerning the captured data about the asset.Type: ApplicationFiled: May 5, 2017Publication date: November 8, 2018Inventors: Mauricio CASTILLO-EFFEN, Ching-Ling HUANG, Raju VENKATARAMANA, Roberto SILVA FILHO, Alex TEPPER, Steven GRAY, Yakov POLISHCHUK, Viktor HOLOVASHCHENKO, Charles THEURER, Yang ZHAO, Ghulam Ali BALOCH, Douglas FORMAN, Shiraj SEN, Huan TAN, Arpit JAIN
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Patent number: 10093022Abstract: A robotic system validates brake bleeding by detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The system also detects displacement of the machine assembly as the machine assembly acts to move the brake lever, monitors one or more sounds generated one or more of during or after the machine assembly acts to move the brake lever, and determines that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and/or the one or more sounds that are monitored.Type: GrantFiled: March 2, 2016Date of Patent: October 9, 2018Assignee: GENERAL ELECTRIC COMPANYInventors: Omar Al Assad, Douglas Forman, Charles Theurer, Balajee Kannan, Huan Tan
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Patent number: 10029372Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.Type: GrantFiled: December 11, 2015Date of Patent: July 24, 2018Assignee: GENERAL ELECTRIC COMPANYInventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Mauricio Castillo-Effen, Romano Patrick, Balajee Kannan, Yonatan Gefen
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Patent number: 10019612Abstract: A system and method to detect an event associated with a first object relative to a second object and a support is provided. The system can include an antenna at a support to receive the first object, a tag reader in communication with the antenna and a tag located on the second object. In response to detecting a change in impedance of the antenna associated with the presence of the first object, the tag reader communicates a presence signal. In response to detecting the tag within a threshold proximity of the tag reader, the tag reader generates a tag signal. A remoter server is operable to detect an association of the first and second objects based on a comparison a time associated with each of the tag signal and the presence signal, and in response then creates an output indicative of a detected event based on the association for illustration.Type: GrantFiled: October 17, 2016Date of Patent: July 10, 2018Assignee: GENERAL ELECTRIC COMPANYInventors: Charles Theurer, Douglas Forman, Brandon Good, Shaopeng Liu, David Smith, Todd Scarola, Robert Wallace, Judith Guzzo
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Patent number: 9902071Abstract: A system is provided that includes a machine assembly, a first imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.Type: GrantFiled: March 2, 2016Date of Patent: February 27, 2018Assignee: General Electric CompanyInventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Balajee Kannan, Yonatan Gefen
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Publication number: 20170341236Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.Type: ApplicationFiled: October 13, 2016Publication date: November 30, 2017Inventors: Romano Patrick, Shiraj Sen, Arpit Jain, Huan Tan, Yonatan Gefen, Shuai Li, Shubao Liu, Pramod Sharma, Balajee Kannan, Viktor Holovashchenko, Douglas Forman, John Michael Lizzi, Charles Burton Theurer, Omar Al Assad, Ghulam Ali Baloch, Frederick Wheeler
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Publication number: 20170341231Abstract: A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.Type: ApplicationFiled: October 14, 2016Publication date: November 30, 2017Inventors: Huan Tan, Balajee Kannan, Yonatan Gefen, Romano Patrick, Omar Al Assad, Douglas Forman, Charles Theurer, John Lizzi
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Patent number: D834037Type: GrantFiled: March 9, 2016Date of Patent: November 20, 2018Assignee: General Electric CompanyInventors: Melody Yvette Ivory, Douglas Forman, So Young Kim, Vanessa Stepanenko, Robert Johnston