Patents by Inventor Naigong Yu
Naigong Yu 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: 10175662Abstract: 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: GrantFiled: October 13, 2017Date of Patent: January 8, 2019Assignee: Beijing University of TechnologyInventors: Naigong Yu, Yunhe Yuan, Xiaojun Jiang, Ti Li, Lue Fang, Ziwei Luo
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Publication number: 20180046153Abstract: 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: ApplicationFiled: October 13, 2017Publication date: February 15, 2018Inventors: Naigong Yu, Yunhe Yuan, Xiaojun Jiang, Ti Li, Lue Fang, Ziwei Luo
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Patent number: 9584000Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.Type: GrantFiled: September 4, 2015Date of Patent: February 28, 2017Assignee: BEIJING UNIVERSITY OF TECHNOLOGYInventors: Xiaogang Ruan, Xiaoqing Zhu, Rongyi Sun, Ruoyan Wei, Naigong Yu, Daoxiong Gong, Guoyu Zuo
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Publication number: 20160006329Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.Type: ApplicationFiled: September 4, 2015Publication date: January 7, 2016Inventors: Xiaogang Ruan, Xiaoqing Zhu, Rongyi Sun, Ruoyan Wei, Naigong Yu, Daoxiong Gong, Guoyu Zuo
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Patent number: 9148046Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.Type: GrantFiled: November 29, 2012Date of Patent: September 29, 2015Assignee: Beijing University of TechnologyInventors: Xiaogang Ruan, Xiaoqing Zhu, Rongyi Sun, Ruoyan Wei, Naigong Yu, Daoxiong Gong, Guoyu Zuo
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Publication number: 20140035398Abstract: A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.Type: ApplicationFiled: November 29, 2012Publication date: February 6, 2014Applicant: BEIJING UNIVERSITY OF TECHNOLOGYInventors: Xiaogang Ruan, Xiaoqing Zhu, Rongyi Sun, Ruoyan Wei, Naigong Yu, Daoxiong Gong, Guoyu Zuo
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Patent number: 8346390Abstract: This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced.Type: GrantFiled: May 5, 2010Date of Patent: January 1, 2013Assignee: Beijing University of TechnologyInventors: Xiaogang Ruan, Qiyuan Wang, Jingmin Hu, Naigong Yu, Yufeng Wang
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Patent number: 8321053Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.Type: GrantFiled: April 29, 2010Date of Patent: November 27, 2012Assignee: Beijing University of TechnologyInventors: Xiaogang Ruan, Xinyuan Li, Honggui Han, Jianwei Zhao, Naigong Yu, Hongge Ren, Jianxian Cai
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Publication number: 20110010013Abstract: This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced.Type: ApplicationFiled: May 5, 2010Publication date: January 13, 2011Applicant: BEIJING UNIVERSITY OF TECHNOLOGYInventors: XIAOGANG RUAN, Qiyuan Wang, Jingmin Hu, Naigong Yu, Yufeng Wang
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Publication number: 20100292840Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.Type: ApplicationFiled: April 29, 2010Publication date: November 18, 2010Applicant: BEIJING UNIVERSITY OF TECHNOLOGYInventors: Xiaogang Ruan, Xinyuan Li, Honggui Han, Jianwei Zhao, Naigong Yu, Hongge Ren, Jianxian Cai