Patents Examined by Dalena Tran
  • Patent number: 10845817
    Abstract: A method for confining and/or modifying the movement of robotic devices by means of a boundary component. The boundary component is placed within an area co-located with the robotic device. The boundary component has a predetermined surface indentation pattern that may be discerned by a sensor component installed onto the robotic device. A robotic device configured with a line laser emitting diode, an image sensor, and an image processor detects predetermined indentation patterns of surfaces within a specific environment. The line laser diode emits the line laser upon surfaces within the filed of view of the image sensor. The image sensor captures images of the projected line laser and sends them to the image processor. The image processor iteratively compares received images against a predetermined surface indentation pattern of the boundary component. Once the predetermined indentation pattern is detected the robotic device may mark the location within the working map of the environment.
    Type: Grant
    Filed: August 10, 2017
    Date of Patent: November 24, 2020
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 10843339
    Abstract: Described herein is a method of deploying sensors by a robot in a geographical region. The robot receives a first instruction including information corresponding to the geographical region and a second instruction indicating one of a first manner and a second manner of deploying sensors. The robot computes a path to traverse the region in a plurality of steps, each step of the plurality of steps having a predetermined magnitude. The robot traverses until a stopping condition is satisfied. The robot deploys sensors at each traversed step size and further receives from each deployed sensor, information indicating absence of sensors in a neighboring area of the deployed sensor. Additionally, the robot repeats the traversing and deploying of sensors in the neighboring area to provide full coverage.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: November 24, 2020
    Assignee: King Fahd University of Petroleum and Minerals
    Inventors: Uthman Baroudi, Md. Enamul Haque, Mohammed Azharuddin
  • Patent number: 10845812
    Abstract: A system controls movement of a marine vessel near an object. The system includes a control module in signal communication with a marine propulsion system, a manually operable input device providing a signal representing a requested translation of the marine vessel, and a sensor providing a first distance between the vessel and a first point on the object and a second distance between the vessel and a second point on the object. The control module determines an actual angle between the vessel and the object based on the first distance and the second distance. In response to the signal representing the requested translation, the control module stores the actual angle between the vessel and the object as an initial angle and controls the marine propulsion system to produce thrust that will carry out the requested translation and that will maintain the initial angle.
    Type: Grant
    Filed: May 22, 2018
    Date of Patent: November 24, 2020
    Assignee: Brunswick Corporation
    Inventors: Aaron J. Ward, Travis C. Malouf, Jason S. Arbuckle, Matthew E. Derginer
  • Patent number: 10838418
    Abstract: A method for providing an autonomous driving service platform for autonomous vehicles by using a competitive computing and information fusion is provided.
    Type: Grant
    Filed: January 9, 2020
    Date of Patent: November 17, 2020
    Assignee: StradVision, Inc.
    Inventors: Kye-Hyeon Kim, Yongjoong Kim, Hak-Kyoung Kim, Woonhyun Nam, Sukhoon Boo, Myungchul Sung, Dongsoo Shin, Donghun Yeo, Wooju Ryu, Myeong-Chun Lee, Hyungsoo Lee, Taewoong Jang, Kyungjoong Jeong, Hongmo Je, Hojin Cho
  • Patent number: 10828778
    Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: November 10, 2020
    Assignee: ABB Schweiz AG
    Inventors: Biao Zhang, Xiongzi Li, George Q. Zhang
  • Patent number: 10828777
    Abstract: A method for redundancy-optimized planning of the operation of a redundant mobile robot having a robot arm includes using a tool center point (TCP) associated with the robot arm and assigned a Cartesian TCP coordinate system having a first, second, and third TCP-coordinate axes; using a Cartesian world coordinate system having first, second, and third world coordinate axes, wherein the first and second world coordinate axes span a plane on which the mobile robot moves, a height of the TCP from which the plane is assigned, and one of the TCP coordinate axes and the plane enclose an angle; creating at least one graph wherein a redundancy is presented as a function of the height and the angle, wherein the redundancy is a measure of possible configurations of the mobile robot depending on the height and the angle; and planning operation of the mobile robot using the graph.
    Type: Grant
    Filed: June 7, 2016
    Date of Patent: November 10, 2020
    Assignee: KUKA Deutschland GmbH
    Inventors: Christian Scheurer, Shashank Sharma
  • Patent number: 10822993
    Abstract: A system and method for determining performance of a turbine engine, and operation thereof. The system and method includes a plurality of sensors and one or more computing devices executing operations including acquiring a plurality of parameter sets each corresponding to a plurality of engine conditions in which each parameter set corresponding to each engine condition indicates a health condition at a plurality of locations at the engine; comparing the plurality of parameter sets to determine a health condition corresponding to a location at the engine; and generating a health condition prediction at the engine based on the compared parameters.
    Type: Grant
    Filed: June 6, 2018
    Date of Patent: November 3, 2020
    Assignee: General Electric Company
    Inventors: Sridhar Adibhatla, John Thomas Herbon
  • Patent number: 10822105
    Abstract: Systems and methods for controlling a crossing threshold used in determining a rotational speed of a propeller of an aircraft engine. An initial value for the crossing threshold is set. A sensor signal is received that comprises a first series of pulses indicative of passage of position markers about a circumference of a propeller shaft. A detection signal is generated that comprises a second series of pulses indicative of within the first series of pulses that have a zero-crossing transition and a magnitude that exceeds the crossing threshold. The rotational speed of the propeller is determined from the detection signal. The crossing threshold is adjusted as a function of the rotational speed.
    Type: Grant
    Filed: September 12, 2018
    Date of Patent: November 3, 2020
    Assignee: PRATT & WHITNEY CANADA CORP.
    Inventors: Ella Yakobov, Ian Farrell
  • Patent number: 10800042
    Abstract: A system and method to control execution of a centralized and decentralized controlled plan, has been described. A plan execution engine executing at a cloud node, receives sensor data captured by one or more sensors at a plurality of autonomous robots and a plan execution status of the centralized controlled plan. The plan execution engine executing at the cloud node, determines whether the plurality of autonomous robots satisfy a transition condition. Next a determination is made one or more activated constraints and task allocation for one or more autonomous robots in the next state. Next the plan execution engine executing at the cloud node and autonomous robots collaboratively determine a constraint solution for the activated one or more plan constraints. Finally based on the determined constraint solution, the one or more plan execution engines sends instructions to an actuator for executing the task included in the centralized controlled plan.
    Type: Grant
    Filed: March 25, 2019
    Date of Patent: October 13, 2020
    Assignee: RAPYUTA ROBOTICS CO., LTD.
    Inventor: Hendrik Skubch
  • Patent number: 10800397
    Abstract: A control apparatus for hybrid electric vehicle includes a shift operation detector and an electric motor controller. The shift operation detector detects an input of a shift operation. The electric motor controller controls an electric motor of the hybrid electric vehicle to generate motor torque directed to decreasing of torque difference, on a condition that: the input of the shift operation from a first stage into a second stage is detected by the shift operation detector; and first torque and second torque are different in magnitude from each other by the torque difference. The first torque is torque that is to be transmitted to a drive wheel during shifting of the automatic transmission. The second torque is torque that is to be transmitted to the drive wheel after the shifting of the automatic transmission is completed.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: October 13, 2020
    Assignee: SUBARU CORPORATION
    Inventors: Fumiyuki Moriya, Yuichi Tanaka
  • Patent number: 10786902
    Abstract: Described herein is a method of deploying sensors by a robot in a geographical region. The robot receives a first instruction including information corresponding to the geographical region and a second instruction indicating one of a first manner and a second manner of deploying sensors. The robot computes a path to traverse the region in a plurality of steps, each step of the plurality of steps having a predetermined magnitude. The robot traverses until a stopping condition is satisfied. The robot deploys sensors at each traversed step size and further receives from each deployed sensor, information indicating absence of sensors in a neighboring area of the deployed sensor. Additionally, the robot repeats the traversing and deploying of sensors in the neighboring area to provide full coverage.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: September 29, 2020
    Assignee: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS
    Inventors: Uthman Baroudi, Md. Enamul Haque, Mohammed Azharuddin
  • Patent number: 10780579
    Abstract: A work robot system including a conveying apparatus that conveys an object in one direction; a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a movement amount detector that sequentially detects the movement amount of the object moved by the conveying apparatus, and a force detector that detects a force generated by contact between a tool supported by the robot and the object. Then, when the predetermined task is performed, a controller performs force control based on a value detected by the force detector while performing control of the robot by use of information about the position of the target portion and a value detected by the movement amount detector.
    Type: Grant
    Filed: January 11, 2019
    Date of Patent: September 22, 2020
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 10775178
    Abstract: A method, computer program product, and a system where a processor(s) monitors activities of a user operating a vehicle with a navigational device providing route guidance, via a first route, to a geographic destination. The processor(s) identifies driving patterns of the user to generate a driver profile for the user, including a baseline activity pattern. The processor(s) determines, at a given time, that the monitored activities of the user are outside of the baseline activity pattern and enables an integrated image capture device in the vehicle and captures images of an environment outside of a the vehicle. The processor(s) utilizes the image capture device, to capture images and derives data describing environmental conditions, based on performing a semantic analysis of the images. The processor(s) transmits the data to a repository and generates a second route to the destination, based on the driver profile and relevant data from the repository data.
    Type: Grant
    Filed: August 14, 2018
    Date of Patent: September 15, 2020
    Assignee: International Business Machines Corporation
    Inventors: Leigh Williamson, Vijay Ekambaram, Shinoj Zacharias, Roger Snook, Howard N. Anglin
  • Patent number: 10775808
    Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: September 15, 2020
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventors: Makoto Ito, Sebastian Nilsson, Mathias Lindeborg
  • Patent number: 10766491
    Abstract: A driving change control device in a vehicle equipped with an autonomous driving function for performing a driving operation on behalf of a driver and controlling an exchange of the driving operation between the autonomous driving function and the driver includes: a section setting unit that sets a change execution section where a driving change from the autonomous driving function to the driver is performed; and a parameter adjustment unit that changes a travel control parameter referred to by the autonomous driving function in a switching section before the change execution section, to adjust a traveling state of the vehicle to be a state with a driving load lower than a driving load before arrival at the switching section.
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: September 8, 2020
    Assignee: DENSO CORPORATION
    Inventor: Takuya Mori
  • Patent number: 10761525
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes obtaining, from a user device, flight operation information describing an inspection of a vertical structure to be performed, the flight operation information including locations of one or more safe locations for vertical inspection. A location of the UAV is determined to correspond to a first safe location for vertical inspection. A first inspection of the structure is performed is performed at the first safe location, the first inspection including activating cameras. A second safe location is traveled to, and a second inspection of the structure is performed. Information associated with the inspection is provided to the user device.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: September 1, 2020
    Assignee: Skydio, Inc.
    Inventors: Brett Michael Bethke, Hui Li, Bernard J. Michini
  • Patent number: 10759052
    Abstract: An apparatus and system for launching and/or capturing an unmanned aerial vehicle (UAV). The apparatus includes a moving substrate having an electromagnetic end effector and a UAV with a metallic strike plate to be attracted to the end effector when the electromagnet is activated. The system includes a movable robotic arm having a free end and a secured end; an electromagnetic end effector connected proximate to the free end of the robotic arm; a UAV with a metallic strike to be attracted and held to the electromagnetic end effector when the electromagnetic end effector is active; trajectory software configured to control a location of the free end of the robotic arm; and a control module for receiving input data, analyzing the data and using the trajectory software to control the location of and activate or deactivate the electromagnetic end effector. Also described are methods for launching and capturing the UAV.
    Type: Grant
    Filed: July 30, 2018
    Date of Patent: September 1, 2020
    Assignee: The Government of the United States of America, as represented by the Secretary of the Navy
    Inventors: Gregory P. Scott, Andrew Bolkhovitinov
  • Patent number: 10761527
    Abstract: Systems and methods are directed to facilitating secure, bidirectional communications between autonomous vehicles associated with a plurality of entities and a provider infrastructure. In one example, a computer-implemented method for facilitating communications with a vehicle includes obtaining, by a computing system comprising one or more computing devices, a communication associated with an autonomous vehicle via an application programming interface platform, wherein the application programming interface platform comprises a plurality of vehicle services interfaces. The method further includes determining, by the computing system, an entity-type of the autonomous vehicle. The method further includes determining, by the computing system, a vehicle services interface of the plurality of vehicle services interfaces based at least in part on the communication associated with the autonomous vehicle and the entity-type.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: September 1, 2020
    Assignee: UATC, LLC
    Inventors: Matthew James Way, Leigh Gray Hagestad, Andrii Iasynetskyi, Mark Yen, Brent Justin Goldman
  • Patent number: 10744650
    Abstract: A mobile robot includes a recessed well in a top surface of the mobile robot, at least one capacitive sensor underlying the recessed well and having a first region and a second region, one or more mobility sensors, and a controller coupled to the at least one capacitive sensor and the one or more mobility sensors. The controller is configured to determine an operating status of the mobile robot responsive to output signals from the one or more mobility sensors, and selectively disregard an input at a first portion of the recessed well corresponding to the first region of the at least one capacitive sensor based on the operating status of the mobile robot.
    Type: Grant
    Filed: September 4, 2018
    Date of Patent: August 18, 2020
    Assignee: iRobot Corporation
    Inventors: Rogelio Manfred Neumann, Landon Unninayar, Fangzheng Guo, Qingtai Zhai, John P. O'Brien, Benjamin H. Schriesheim, Travis Gschrey, Milan Modh
  • Patent number: 10743952
    Abstract: A system includes a robotic manipulator comprising an arm and an end effector coupled to the arm and being moveable by the arm for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a first virtual boundary relative to the target site, prevent the end effector from penetrating the first virtual boundary in the manual mode, and allow the end effector to penetrate the first virtual boundary in the autonomous mode.
    Type: Grant
    Filed: September 13, 2018
    Date of Patent: August 18, 2020
    Assignee: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, Jose Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer