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850 results about "Local environment" patented technology

Software architecture for high-speed traversal of prescribed routes

Systems, methods, and apparatuses for high-speed navigation. The present invention preferably encompasses systems, methods, and apparatuses that provide for autonomous high-speed navigation of terrain by an un-manned robot. By preferably employing a pre-planned route, path, and speed; extensive sensor-based information collection about the local environment; and information about vehicle pose, the robots of the present invention evaluate the relative cost of various potential paths and thus arrive at a path to traverse the environment. The information collection about the local environment allows the robot to evaluate terrain and to identify any obstacles that may be encountered. The robots of the present invention thus employ map-based data fusion in which sensor information is incorporated into a cost map, which is preferably a rectilinear grid aligned with the world coordinate system and is centered on the vehicle. The cost map is a specific map type that represents the traversability of a particular environmental area using a numeric value. The planned path and route provide information that further allows the robot to orient sensors to preferentially scan the areas of the environment where the robot will likely travel, thereby reducing the computational load placed onto the system. The computational ability of the system is further improved by using map-based syntax between various data processing modules of the present invention. By using a common set of carefully defined data types as syntax for communication, it is possible to identify new features for either path or map processing quickly and efficiently.
Owner:CARNEGIE MELLON UNIV

Charge perturbation detection system for DNA and other molecules

Methods and apparatus for direct detection of chemical reactions are provided. In a preferred embodiment, electric charge perturbations of the local environment during enzyme-catalyzed reactions are sensed by an electrode system with an immobilized target molecule. The target molecule is preferably DNA. The charge perturbation caused by the polymerase reaction can uniquely identify a DNA sequence. The polymerization process generates local perturbations of charge in the solution near the electrode surface and induces a charge in a polarazible gold electrode. This event is detected as a transient current by a voltage clamp amplifier. Detection of single nucleotides in a sequence can be determined by dispensing individual dNTPs to the electrode solution and detecting the charge perturbations. Alternatively, multiple bases can be determined at the same time using a mix of all dNTPs with subsequent analysis of the resulting signal. The initial enzyme attachment to the DNA molecule can be detected prior to polymerization, with electrode capacitance measurement using the same voltage-clamp amplifier. This technique and device may be adapted to other reaction determinations, such as enzymatic reactions, other electrode configurations, and other amplifying circuits.
Owner:THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV

Method for planning path for mobile robot based on environmental modeling and self-adapting window

InactiveCN101738195ASolve the problem of generating obstacle avoidance paths in real timeThe problem of real-time generation of obstacle avoidance paths satisfiesInstruments for road network navigationSpecial data processing applicationsSimulationLocal environment
The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reachability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.
Owner:XIAMEN UNIV
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