Patents Examined by Stephen Holwerda
  • Patent number: 10383497
    Abstract: A robot and a controlling method thereof are provided. The robot includes a driver unit configured to move a location of the robot, a sensor unit configured to sense an environment around the robot, and a controller configured to, in response to the location of the robot being changed by a user, check a current location of the robot by using the environment of the changed location sensed by the sensor unit and pre-stored map information, determine a task to be performed, based on the checked location and the environment of the changed location, and control the driver unit according to the determined task.
    Type: Grant
    Filed: April 13, 2016
    Date of Patent: August 20, 2019
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Seung-beom Han, Myung-sik Kim, Jong-hoon Lim
  • Patent number: 10378426
    Abstract: A system for determining a remaining useful life of a cooling component operatively connected to a prime mover. A controller performs a thermal strain analysis that includes determining the power output of the prime mover based upon sensor signals, determining a temperature output of the prime mover based upon the power output, determining a temperature at each of the plurality of analysis locations based upon the temperature output, determining a temperature difference based upon the temperature at each respective one of the plurality of analysis locations, and determining a thermal strain based upon the temperature difference. The controller repeats the thermal strain analysis at time intervals over a period of time, determines an accumulated damage for the cooling component based upon the thermal strain from each thermal strain analysis, and determines a remaining useful life of the cooling component based upon the material characteristics and the accumulated damage.
    Type: Grant
    Filed: December 16, 2016
    Date of Patent: August 13, 2019
    Assignee: Caterpillar Inc.
    Inventors: Dongming Tan, Doug A. Long, Neil Terry, Anthony L. Deluca, Jianlong Xu, Rohit K. Paramatmuni, Joseph L. Kennedy, Michael J. Campagna
  • Patent number: 10369857
    Abstract: Methods and apparatus to control vehicle tilt are disclosed. A disclosed example apparatus includes a plurality of actuators of a vehicle, where each actuator is to be length adjustable, and a controller communicatively coupled to the actuators, where the controller to vary a height of at least one of the actuators to adjust a tilt of the vehicle to facilitate loading or removal of an object relative to the vehicle.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: August 6, 2019
    Assignee: Ford Global Technologies
    Inventor: Erick Michael Lavoie
  • Patent number: 10369708
    Abstract: A robot including an end-effector and a robot arm having a proximal link, a distal link, and a joint assembly for controlling the relative position of the two links. The joint assembly includes an actuated linkage joint including a pair of stops and a passive linkage joint including a mechanical positioner for the end-effector located between the stops. The pair of stops are configured to constrain movement of the mechanical positioner to thereby constrain the ability of a user to manipulate the end-effector outside a predetermined range of motion and permit movement of the end-effector within the predetermined range of motion. The drive mechanism is configured to control a location of at least one stop of the pair of stops based on a position of a virtual object in a virtual space. The joint assembly is one of a prismatic joint assembly and a revolute joint assembly.
    Type: Grant
    Filed: July 25, 2016
    Date of Patent: August 6, 2019
    Assignee: MAKO Surgical Corp.
    Inventor: Hyosig Kang
  • Patent number: 10285765
    Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
    Type: Grant
    Filed: May 5, 2015
    Date of Patent: May 14, 2019
    Assignee: VICARIOUS SURGICAL INC.
    Inventors: Adam Sachs, Sammy Khalifa, Barry Stuart Greene
  • Patent number: 10259555
    Abstract: A method for controlling movement of a marine vessel near an object includes accepting a signal representing a desired movement of the marine vessel from a joystick. A sensor senses a shortest distance between the object and the marine vessel and a direction of the object with respect to the marine vessel. A controller compares the desired movement of the marine vessel with the shortest distance and the direction. Based on the comparison, the controller selects whether to command the marine propulsion system to generate thrust to achieve the desired movement, or alternatively whether to command the marine propulsion system to generate thrust to achieve a modified movement that ensures the marine vessel maintains at least a predetermined range from the object. The marine propulsion system then generates thrust to achieve the desired movement or the modified movement, as commanded.
    Type: Grant
    Filed: August 25, 2016
    Date of Patent: April 16, 2019
    Assignee: Brunswick Corporation
    Inventors: Aaron J. Ward, Michael J. Lemancik
  • Patent number: 10245725
    Abstract: A robot apparatus determines a reactive force of a wire member by a sensor, used for the transmission of a driving signal between the robot apparatus and a joint (or end effector). The robot apparatus includes: a plurality of links which constitute a robot arm; rotational joints which connect each of the links to each other; a motor which drives each of the rotational joints; and a cable as a wire member, which is arranged along each link and transmits a driving signal at least to a driving source. A controlling apparatus drives and controls the motor which drives the rotational joints, based on a value of a reactive force, which a cable reactive force measuring unit outputs, which measures the reactive force to be applied to a joint portion when the cable is deformed.
    Type: Grant
    Filed: April 13, 2016
    Date of Patent: April 2, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Takayuki Ogawara
  • Patent number: 10239206
    Abstract: A controlling unit obtains an error in position and orientation of each joint of a robot. The controlling unit uses an error component in a driving direction of an actuator included in the error in position and orientation ui of the joint to obtain a first correction quantity, to obtain a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint, and to obtain—an error in position and orientation of the end point of the robot based on the residual error of each joint. The controlling unit uses the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot to obtain a second correction quantity ?qi, and uses the first correction quantity and the second correction quantity to correct a joint instruction value.
    Type: Grant
    Filed: March 23, 2016
    Date of Patent: March 26, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Mahito Negishi
  • Patent number: 10232897
    Abstract: A method and apparatus for a walking robot. A first end effector connected to a first end of a robotic arm is moved relative to a surface of a structure and away from a second end effector connected to a second end of the robotic arm. The first end effector is secured relative to the surface of the structure after moving the first end effector relative to the surface. The second end effector connected to the second end of the robotic arm is moved relative to the surface of the structure and toward the first end effector.
    Type: Grant
    Filed: October 16, 2015
    Date of Patent: March 19, 2019
    Assignee: The Boeing Company
    Inventors: Joseph Lawrence Hafenrichter, Gary Ernest Georgeson
  • Patent number: 10228252
    Abstract: An apparatus and method are disclosed for enhancing a navigation solution of a portable device and a platform. Motion sensor data may be obtained corresponding to motion of the portable device, such that a first filter may be configured to output a navigation solution and at least one second filter may be configured to use the motion sensor data to generate at least one value. The at least one generated value may then be used with the first filter to enhance the navigation solution output by the first filter.
    Type: Grant
    Filed: August 20, 2015
    Date of Patent: March 12, 2019
    Assignee: InvenSense, Inc.
    Inventors: Jacques Georgy, Zainab Syed, Christopher Goodall
  • Patent number: 10214163
    Abstract: A plug-in communication system, for implementation with a vehicle. The system in one aspect includes an onboard diagnostics port-expansion device, configured for mounting in the vehicle to, or adjacent, an onboard diagnostics port, and an onboard diagnostics port expansion connection line extending from the onboard diagnostics port-expansion device, the connection line being configured to connect the port-expansion device to one or more vehicle components. In another aspect, the system includes an inline remote-services terminal configured for wired connection inline, via a plurality of connection lines, to a remote-services module of the vehicle, a first connection line, of the plurality of connection lines, configured to connect to the inline remote-services terminal and to the remote-services module, and a second connection line, of the plurality of connection lines, configured to connect to the inline remote-services terminal and to the remote-services module.
    Type: Grant
    Filed: February 17, 2014
    Date of Patent: February 26, 2019
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Donald K. Grimm, Timothy J. Talty, Duane S. Carper, Daniel J. Forest, Esayas Naizghi
  • Patent number: 10190289
    Abstract: A method for monitoring wear of a ground-engaging tool associated with a machine in relation to productivity of the machine is disclosed. The ground-engaging tool defines an inner cavity and a first wall. The method includes receiving a first characteristic signal associated with the first wall from a first sensor, the first sensor operatively associated with the first wall. The method further includes receiving one or more productivity metrics associated with the machine from a performance monitoring system, the performance monitoring system operatively associated with the machine. The method further includes determining a first dimension of the ground-engaging tool based on the first characteristic signal, determining a first wear metric of the ground-engaging tool based on the first dimension, and correlating the first wear metric and the one or more productivity metrics.
    Type: Grant
    Filed: August 2, 2016
    Date of Patent: January 29, 2019
    Assignee: Caterpillar Inc.
    Inventors: Solimar Reyes-Rodriguez, Maria Cristina Herrera De Kontz, Aloke Jude Mascarenhas
  • Patent number: 10173720
    Abstract: A sensor device includes two sensor parts and an ECU. An output division of one of the two sensor parts stops output of an output signal when a detected internal abnormality is a first abnormality. Further, when the detected internal abnormality is a second abnormality that is different from the first abnormality, the output division controls an abnormality signal to take a value indicative of the second abnormality. An abnormality determiner determines either of a signal obtainment abnormality or the first abnormality of the sensor part when the output signal is not obtained from the one of the sensor parts, or determines the second abnormality of the one of the sensor parts when the obtained output signal includes the abnormality signal having a value indicative of the second abnormality. Such determination, thus, enables the abnormality determiner to classify an abnormality caused in the sensor parts.
    Type: Grant
    Filed: July 28, 2016
    Date of Patent: January 8, 2019
    Assignee: DENSO CORPORATION
    Inventors: Takaharu Kozawa, Shuji Kuramitsu, Kouichi Nakamura, Masaya Taki, Toshimitsu Sakai, Katsuhiko Hayashi
  • Patent number: 10173719
    Abstract: An electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein an offset is given to input or output of the viscoelastic model for preventing an overheat, resulting in suppressing a rack end hitting.
    Type: Grant
    Filed: December 24, 2015
    Date of Patent: January 8, 2019
    Assignee: NSK LTD.
    Inventors: Toru Sakaguchi, Toshikazu Onoe
  • Patent number: 10175662
    Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.
    Type: Grant
    Filed: October 13, 2017
    Date of Patent: January 8, 2019
    Assignee: Beijing University of Technology
    Inventors: Naigong Yu, Yunhe Yuan, Xiaojun Jiang, Ti Li, Lue Fang, Ziwei Luo
  • Patent number: 10168690
    Abstract: Multirobotic management can involve communications between a command or leader robot and one or more client or follower robots through a cloud computing system. In an example implementation, a leader robot can receive first sensory data captured by a first follower robot and second sensory data captured by a second follower robot, determine a command function based on at least one of the first sensory data and the second sensory data, and communicate with at least one of the first follower robot and the second follower robot based on the command function.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: January 1, 2019
    Assignee: X Development LLC
    Inventors: Ryan Hickman, Chaitanya Gharpure
  • Patent number: 10152894
    Abstract: An example method for flight path variation of an aircraft for noise management includes receiving noise inquiries of a community related to aircraft noise during flight over the community, receiving an output from noise sensors positioned within the community, determining a noise distribution plan for additional aircraft flying over the community so as to steer the additional aircraft and distribute additional aircraft noise in response to the noise inquiries and the output from the noise sensors, and based on flight path data of the additional aircraft and the noise distribution plan, assigning a flight path modification to aircraft via a data communication link. The flight path modification informs the aircraft to adjust the flight path to remain within associated margins of a required navigation performance (RNP) instrument flight procedure and to reduce noise impact to the community underneath the flight path.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: December 11, 2018
    Assignee: The Boeing Company
    Inventors: Charles Otis Adler, Sheila Ruth Conway, Douglas A. Stoll
  • Patent number: 10144303
    Abstract: Methods and systems for monitoring a vehicle. In a parked state of the vehicle, the control unit of the vehicle is deactivated, and the signals of some of the sensors of the vehicle are detected and evaluated by way of a separate detecting unit. If, based on the sensor signals evaluated in this way, a defined event is detected, the previously deactivated control unit can be activated. Thus, the operating time of the control unit is minimized over the total life span of the vehicle.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: December 4, 2018
    Assignee: Robert Bosch GmbH
    Inventors: Vincent Schulte-Coerne, Jose-Luis Parga-Cacheiro
  • Patent number: 10130546
    Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.
    Type: Grant
    Filed: September 29, 2014
    Date of Patent: November 20, 2018
    Assignee: Barrett Technology, LLC
    Inventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton
  • Patent number: 10118636
    Abstract: A high-performance electric power steering apparatus that includes a control system based on a physical model, includes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, eliminates or reduces the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and reduces the end hitting. The electric power steering apparatus calculates a current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end so as to suppress a rack end hitting.
    Type: Grant
    Filed: December 24, 2015
    Date of Patent: November 6, 2018
    Assignee: NSK LTD.
    Inventors: Toru Sakaguchi, Shoya Maruyama