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174 results about "Path tracing" patented technology
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Path tracing is a computer graphics Monte Carlo method of rendering images of three-dimensional scenes such that the global illumination is faithful to reality. Fundamentally, the algorithm is integrating over all the illuminance arriving to a single point on the surface of an object. This illuminance is then reduced by a surface reflectance function (BRDF) to determine how much of it will go towards the viewpoint camera. This integration procedure is repeated for every pixel in the output image. When combined with physically accurate models of surfaces, accurate models of real light sources (light bulbs), and optically correct cameras, path tracing can produce still images that are indistinguishable from photographs.
Method and apparatus for integrating manual input
InactiveUS6888536B2Simple methodEasy to learnInput/output for user-computer interactionImage analysisLow noiseBiomechanics
Apparatus and methods are disclosed for simultaneously tracking multiple finger and palm contacts as hands approach, touch, and slide across a proximity-sensing. compliant, and flexible multi-touch surface. The surface consists of compressible cushion, dielectric, electrode, and circuitry layers. A simple proximity transduction circuit is placed under each electrode to maximize signal-to-noise ratio and to reduce wiring complexity. Such distributed transduction circuitry is economical for large surfaces when implemented with thin-film transistor techniques. Scanning and signal offset removal on an electrode array produces low-noise proximity images. Segmentation processing of each proximity image constructs a group of electrodes corresponding to each distinguishable contact and extracts shape, position and surface proximity features for each group. Groups in successive images which correspond to the same hand contact are linked by a persistent path tracker which also detects individual contact touchdown and liftoff. Combinatorial optimization modules associate each contact's path with a particular fingertip, thumb, or palm of either hand on the basis of biomechanical constraints and contact features. Classification of intuitive hand configurations and motions enables unprecedented integration of typing, resting, pointing, scrolling, 3D manipulation, and handwriting into a versatile, ergonomic computer input device.
Owner:APPLE INC
Method and apparatus for integrating manual input
InactiveUS20050104867A1Easy to learnEasy to identifyInput/output for user-computer interactionImage analysisLow noiseDielectric
Owner:APPLE INC
Network path tracing method
Systems and methods for gathering troubleshooting information through one or more networks are disclosed. In one embodiment, the method comprises a switch port configured to receive a frame that has information added by another switch. As the frame traverses the network, control logic in the switch adds additional information into the frame from the current switch.
Owner:AVAGO TECH INT SALES PTE LTD
Path tracing control method, path tracing control device, and intelligent vehicle
ActiveCN107153420AImprove robustnessImprove stabilityPosition/course control in two dimensionsVehiclesSteering wheelSteering angle
The invention relates to a path tracing control method, a path tracing control device, and an intelligent vehicle. The path tracing control method comprises steps that a predetermined target path and the state information of the vehicle are acquired; a main previewing point and an auxiliary previewing point are acquired according to a preset main previewing distance, an auxiliary previewing distance, and a predetermined target path; a first lateral error is determined according to the position of the main previewing point, the position of the vehicle, and the course of the vehicle, and a second lateral error is determined according to the position of the auxiliary previewing point, the position of the vehicle, and the course of the vehicle; main previewing output and auxiliary previewing output are calculated; the weighting summation of the main previewing output and the auxiliary previewing output is carried out to acquire a steering wheel steering angle control quantity of a current control period; the steering wheel steering angle control quantity of the current control period is output to a vehicle control actuator. Based on the accurate description of the curvature characteristic of the predetermined target path, the tracing path of the vehicle is in more accordance with the predetermined target path, and therefore the robustness of the path tracing is improved, and the stability of the path tracing control is enhanced.
Owner:GUANGZHOU AUTOMOBILE GROUP CO LTD
Integrated circuit chip design
InactiveUS7243323B2Increase capacityMuch of advantageSemiconductor/solid-state device manufacturingCAD circuit designData signalComputer science
Method of developing a model of a circuit design including the steps of generating four different path-tracing runs, creating four arcs from the four different path-tracing runs, and combining the four arcs into two separate models. Also, a method of adjusting timing of a clock signal provided to a first block and a second block where data signals travel via a first path from the first block to the second block and data signals travel via a second path from the second block to the first block and the time for the data signals to travel the first path is greater than the time for the data signals to travel the second path. The clock signal provided to the second block relative to the clock signal provided to the first block is delayed by an amount that is a function of the difference between the time for the data signals to travel the first path and the time for the data signals to travel the second path.
Owner:MORPHICS TECH +1
Robust adaptive underactuated surface ship path tracking control method based on fuzzy unknown observer
ActiveCN109189071AIncrease flexibilityImprove robustnessSpeed/accelaration control using electric meansAdaptive controlGuidance systemDynamic models
The invention discloses a robust adaptive underactuated surface ship path tracking control method based on a fuzzy unknown observer. The robust adaptive underactuated surface ship path tracking control method based on the fuzzy unknown observer comprises the following steps that an unmanned ship kinematics and dynamics model is established; a path tracking error dynamic state is built; a line-of-sight guidance law with variable speed is proposed; a fuzzy logic system is established; and a controller based on the fuzzy unknown observer is designed. In a guidance subsystem, the line-of-sight guidance law with the variable speed is proposed, the control flexibility and robustness of a guidance system are improved, and the position error is enabled to be asymptotically stabilized to zero; andin a control subsystem, the fuzzy unknown disturbance observer is designed to estimate the unknown disturbance quickly and accurately, and effective compensation is carried out on the designed speed and a heading controller, so that the tracking error between a guidance signal and actual quantity is asymptotically stabilized back to zero. The involved algorithm framework can enable a whole closed-loop system to be globally asymptotically stabilized, and the control flexibility and tracking accuracy of a path tracking control system are greatly improved.
Owner:DALIAN MARITIME UNIVERSITY
Wireless system and method for displaying the path traveled by a marker
ActiveUS7804054B2Radiation pyrometryBeacon systems using electromagnetic wavesPath tracingElectric power
A low maintenance path tracing apparatus comprising at least one marker including an emitter of a tracer signal and a receiving medium for recording the path of the tracer signal. The apparatus further includes a power providing arrangement comprising a base unit which wirelessly provides power to the marker for powering the emitter.
Owner:BLOOMFIELD SCI MUSEUM JERUSALEM
Driverless vehicle local path planning method with time consistency
ActiveCN108088456ASolve the problem of inter-consistencyGuaranteed ModularityInstruments for road network navigationPlanning approachDegrees of freedom
The invention discloses a driverless vehicle local path planning method with time consistency. The method comprises the steps: firstly, vehicle motion differential constraints are increased for a planning path curve, so that a vehicle can track a generated trajectory accurately; secondly, model parameters of a path planning trajectory curve model are promoted, a greater degree of freedom is increased for the planning path, and a curvature constraint problem is conveniently transformed into a mathematical solving optimization problem; and finally, results of periodic optimization before and after the local path method is obtained through periodic optimization solving have large difference, and the problem of jitter of the vehicle during real-time path tracking is caused. A local path planning section is divided into two parts, namely a weak planning section and a strong planning section; the weak planning section is obtained by a strong planning result of a last planning period; throughplanned segmentation, the time consistency of the planning results can be guaranteed, and the local path planning can also have high obstacle avoidance ability.
Owner:BEIJING UNIV OF TECH
Additional Touch-Gesture Sensors for Rear or Sides of Mobile Devices
Owner:LUDWIG LESTER
Unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance
ActiveCN107168335AGuaranteed convergenceGuaranteed validityTarget-seeking controlPosition/course control in two dimensionsTransition functionObstacle avoidance
The invention discloses an unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance. The unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance includes the steps: dividing the guidance process into a path following mode and an obstacle avoidance control guidance mode to improve a DVS guidance algorithm as the basic framework; dynamically programming a smooth reference path formed by lines and curves by means of a GVS, wherein the path following mode and the obstacle avoidance control guidance mode are respectively corresponding to different guide vectors of the DVS; and for obstacle avoidance guidance of a plurality of or hybrid obstacles, determining the current obstacle avoidance target according to the priority sequence and obstacle avoidance control conditions, and starting the obstacle avoidance control mode, wherein the transition function guarantees the smoothness of the DVS guide vectors for switching among different modes. The unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance has applicability for various control strategies and is convenient for combination with the current advanced control algorithm, wherein the control algorithm is used for guaranteeing convergence of DVS for a real ship and guaranteeing effectiveness of the guidance strategy.
Owner:DALIAN MARITIME UNIVERSITY
Vehicle violated lane occupying tracking detection system and method for four-dimensional live-action traffic simulation
ActiveCN108877234ARealize full path tracking and monitoringKeep uniqueDetection of traffic movementParticular environment based servicesLow speedCloud processing
The invention proposes a vehicle violated lane occupying tracking detection system and method for four-dimensional live-action traffic simulation. The system comprises a plurality of multi-element omnibearing tracking detection radar sensors, a data collection and analysis processor, a cloud processing server, and a four-dimensional live-action monitoring management work station. A license plate snapshotting camera obtains the vehicle feature information, and combines with the multi-element omnibearing tracking detection radar sensors set in the whole path to collect the original data of eachvehicle, and the tracking positioning information of a vehicle is obtained through the data collection and analysis processor. The system achieves the full-path tracking detection of all vehicles. When a vehicle moves at a low speed for long time or occupies other lanes for long time in a violated manner, the system can give an alarm timely for reminding a driver of driving the vehicle normally. When the vehicle continues the violation, the system can timely give an alarm to other vehicles in the lane in the same direction so as to remind other vehicles of avoiding the vehicle.
Owner:河北德冠隆电子科技有限公司
Automated path tracing through switching mesh
One embodiment disclosed relates to a method of automated path tracing from an original mesh switch through a switching mesh to a specified destination. A mesh traceroute packet to the specified destination is built. The mesh traceroute packet is transmitted via an exit port associated with the specified destination and the returned packet is received. Another embodiment disclosed relates to a method of responding to receipt of a mesh traceroute packet during an automated path tracing. The mesh traceroute packet is received at a switch. A hop entry is appended to the mesh traceroute packet by the switch.
Owner:HEWLETT-PACKARD ENTERPRISE DEV LP
Autonomous driving path tracking control method of crawler-type mobile robot
ActiveCN110286683AImprove accuracyImprove reliabilityAdaptive controlPosition/course control in two dimensionsDrive wheelDynamic models
The invention provides an autonomous driving path tracking control method of a crawler-type mobile robot. With the autonomous driving path tracking control method of the crawler-type mobile robot adopted, the accuracy and reliability of the path tracking of the mobile robot can be improved. The method comprises the following steps that: the current pose information, mass center speed information and driving wheel rotating speed information of the crawler-type mobile robot are acquired; the pose information of the crawler-type mobile robot in a prediction time domain is determined according to the obtained information through the kinematics and dynamics models of the crawler-type mobile robot, and the determined pose information is compared with expected path information, so that pose deviation in the prediction time domain can be obtained; with minimizing the sum of predicted pose deviation, predicted control quantity increment and predicted course angular velocity change in a path tracking process adopted as an objective, the optimization function of nonlinear model prediction control can be determined; the optimization function is minimized through constraint conditions, so that an optimal control sequence can be obtained; and therefore, the crawler-type mobile robot tracks an expected path according to the output pose information of the optimal control sequence so as to autonomously travel.
Owner:UNIV OF SCI & TECH BEIJING
Under-actuated ship path tracking planning method based on dynamic virtual ship guidance algorithm
InactiveCN104020771AEffective controlHigh control precisionPosition/course control in two dimensionsDesign controlSelf adaptive
The invention discloses an under-actuated ship path tracking planning method based on a dynamic virtual ship guidance algorithm. The method includes the following steps that 1, a guide virtual ship mathematic model is established, a ship tracking control reference path is planned out through the guidance algorithm according to the guide virtual ship mathematic model, and an instruction time series signal of the generated reference path of a guidance virtual ship is obtained; 2, the path tracking control state starts; 3, the ship position and movement posture of a dynamic virtual ship are configured dynamically according to the relative position of an actual ship and the guidance virtual ship; 4, control laws, namely the rotational speed nc of a main engine and the helm angle instruction signal delta c of the actual ship are designed according to a robust self-adaptation control strategy, a main engine and steering engine implementation device of the actual ship is controlled, the actual ship is driven and controlled to track the dynamic virtual ship, and the path tracking control task of the ship in navigation practice is finally fulfilled; 5, whether the ship reaches a destination or not is judged by measuring the position of the actual ship, if the ship reaches the destination, ship navigation is ended, and if the ship does not reach the destination, the time t is updated to be t plus one, and the step 2 is carried out.
Owner:DALIAN MARITIME UNIVERSITY
Unmanned vehicle path tracking control method based on soft constraint quadratic programming MPC
ActiveCN108334086AAdjust control parameters in real timeAccurate path followingPosition/course control in two dimensionsVehiclesControl parametersPath tracing
The invention relates to an unmanned vehicle path tracking control method based on a soft constraint quadratic programming MPC. The method comprises the steps that firstly, a new reference path pointset Prset is calculated and established according to known reference path points; secondly, output from a kth sampling point to future Np sampling moments is predicted; thirdly, a control increment offuture Nc sampling moments is calculated by using an optimization method with soft constraint quadratic programming, and therefore a control amount at the current moment is obtained; finally, the control amount at the current moment is applied to a system, and the steps above are repeated until path tracking is completed. According to the method, through a rolling optimization strategy, global optimization is replaced by local optimization, feedback correction is conducted by utilizing actually-measured information, control parameters can be adjusted in the control process in real time, and path tracking is more accurate.
Owner:JIANGSU UNIV
Multi-robot formation control path tracking method based on Bluetooth communications
InactiveCN103901889AIncrease redundancyImprove robustnessPosition/course control in two dimensionsRobot positionComputer science
The invention discloses a multi-robot formation control path tracking method based on Bluetooth communications. The method includes the steps that robots are placed on an iSpace experiment platform; a camera sends captured position and posture data of the robots to an upper computer; the upper computer analyzes the position and posture data and stores position and posture information of each robot; the position, the angle, the moving linear speed and the angular speed of a geometric center formed by the robots are obtained according to predetermined tracking paths; a formation system coordinate system is established with the geometric center as a coordinate origin; position and posture deviation of the robots is worked out according to actual information and reference information of the robots; the linear speed and the angular speed of each robot in a next control period are worked out, control parameters are converted into the rotation speed of right wheels of the robots and the rotation speed of left wheels of the robots, and the information is sent to the robots through Bluetooth. The multi-robot formation control path tracking method based on Bluetooth communications is high in tracking system accuracy, wide in tracking curve application range, capable of being matched with a formation control function and suitable for related fields of multi-robot research, and has good development potential.
Owner:ZHEJIANG UNIV
Efficient rendering based on ray intersections with virtual objects
ActiveUS20170372508A1Improve efficiencyReduced resourceImage enhancementImage analysisComputer graphics (images)Path tracing
A method and system for rendering a three-dimensional (3D) scene by excluding non-contributing objects are disclosed. A preliminary object analysis using relatively few rays can be performed to determine which off-camera objects are to be excluded or included in the rendering process. The preliminary object analysis may involve performing an initial ray path tracing to identify intersections between a plurality of rays and one or more objects in the 3D scene. The object analysis can include identifying whether a first object in the 3D scene can be identified as an off-camera object. When the first object is identified as an off-camera object, a number of intersections between the plurality of rays and the first object can be counted. If the number of intersections is less than a corresponding threshold, the first object can be identified as being excluded from a future rendering process to render the first frame.
Owner:PIXAR ANIMATION
Agricultural machine path tracking control method based on nerve network
InactiveCN101078935AImplement automatic path tracingAdaptableAdaptive controlPosition/course control in two dimensionsNerve networkNeural network learning
The invention discloses an agricultural machine path tracing controlled method based on nerve net, which comprises the following steps: adopting catalogue; exercising network; using network; finishing the method. This invention possesses self-adaptability, which can improve accuracy of track tracing effectively.
Owner:SOUTH CHINA AGRI UNIV
AUV horizontal planar path tracking control method based on neural dynamic model and backstepping method
InactiveCN105843224AThe process of avoiding complex derivative operationsAvoid complex derivative operationsPosition/course control in two dimensionsBacksteppingDynamic models
An AUV horizontal planar path tracking control method based on a neural dynamic model and a backstepping method relates to the technical field of horizontal planar path tracking control of under-actuated AUV. The method improves AUV path tracking control precision. A neural dynamic model theory is introduced and has the characteristics of smooth input and output. Virtual controlled variables appeared in the backstepping method designing process flows by the neural dynamic model, so that complex derivation calculation of the virtual controlled variables is avoided. Compared with a conventional backstepping method, the method prevents a possible parameter blast phenomenon, and substantially improves the control precision of a system.
Owner:HARBIN ENG UNIV
Performance of ECMP Path Tracing in an MPLS Enabled Network
ActiveUS20090168664A1Data switching by path configurationElectrical componentsWeb trackingPath tracing
The preferred embodiments of the present invention are directed to a network tracing engine for tracing and depicting a topology (i.e. a network configuration) of a network using, for example, a network diagram. The network tracing engine preferably queries / telnets to interfaces of routers associated with one or more source-to-destination paths in a network concurrently and independently to ensure proper configuration of the routers and / or to generate a true depiction of a routing configuration without redundantly querying routers.
Owner:AT&T INTPROP I L P
Intelligent wheel chair control method based on brain computer interface and automatic driving technology
InactiveUS20170095383A1Reduce mental burdenInput/output for user-computer interactionEnsemble learningBrain computer interfacingAngular velocity
Disclosed is an intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by webcams to perform obstacle localization; generating candidate destinations and waypoints for path planning according to the current obstacle information; performing self-localization of the wheel chair; selecting a destination by a user through the brain computer interface (BCI); planning an optimal path according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints; calculating a position error between the current position of the wheel chair and the optimal path as the feedback of aPID path tracking algorithm; and calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm and transmitting them to a PID motion controller, converting odometry data from encoders into current angular and linear velocities as a feedback of the PID motion controller, and controlling the driving of the wheel chair in real time to the destination. The intelligent wheel chair control method greatly relieves the mental burden of a user, can adapt to changes in the environment, and improves the self-care ability of patients with severe paralysis.
Owner:SOUTH CHINA UNIV OF TECH
Automated host discovery and path tracing by network management server
One embodiment described relates to an automated method of host discovery and path tracing by a network management server. The method includes discovery of a location in the network of a source host, discovery of a location in the network of a destination host, and discovery of a path from the source host to the destination host. Other embodiments are also described.
Owner:HEWLETT-PACKARD ENTERPRISE DEV LP
Accurate control method for path tracking of unmanned ship based on dual guidance of speed and heading
The invention discloses an accurate control method for a path tracking of an unmanned ship based on a dual guidance of the speed and the heading. The method comprises the following steps of: establishing a kinematics model and a dynamics model of the unmanned ship; constructing an error dynamics of the path tracking; designing a dual guidance law of the speed and the heading; and designing a finite-time interference observer. According to the accurate control method for the path tracking of the unmanned ship based on the dual guidance of the speed and the heading, the dual guidance law of thespeed and the heading provided by the control method can simultaneously guide the speed and the heading angle according to the path tracking errors, and improves the stability and flexibility of the path tracking control system. The finite-time interference observer constructed by the control method can accurately observe the complex external disturbances; ensures that the observation error is zero for a finite time; and can avoid the limitations of bounded observations and asymptotic observations. The control method designs a speed and heading tracking controller combining the design of a finite time observer and the back stepping control technology, so that the guidance signal can be accurately tracked in the presence of a complex interference, thereby achieving the accurate control forthe path tracking of the unmanned ship.
Owner:DALIAN MARITIME UNIVERSITY
Rapid phase unwrapping method based on quality diagram region segmentation
InactiveCN103913128AAvoid the impact of unwrapping accuracyImprove operational efficiencyUsing optical meansDifferential algorithmThree dimensional measurement
The invention belongs to the technical field of computer measurement, and particularly relates to a rapid phase unwrapping method based on quality diagram region segmentation. The rapid phase unwrapping method includes the steps of capturing wrapped phase diagrams obtained through processing with a camera, calculating quality diagrams according to the wrapped phase diagrams, filtering the quality diagrams with a phase differential-difference algorithm, automatically obtaining a region segmentation threshold value, dividing the wrapped phase diagrams into regions with different priorities with the obtained region segmentation threshold value, completing region phase unwrapping with a simple path tracking phase unwrapping algorithm, conducting phase unwrapping, and combining sets after phase unwrapping according to the priority sequence from high to low. By means of the rapid phase unwrapping method, the simple path tracking phase unwrapping algorithm based on region segmentation is adopted, and the phase unwrapping speed can be quickened on the premise that the phase unwrapping accuracy is not reduced to the greatest extent. By means of the rapid phase unwrapping method, the requirements for high accuracy, rapid unwrapping, noise jamming resistance and the like of structured light vision three-dimensional measurement are met.
Owner:HARBIN ENG UNIV
Sonar Based Drowning Detection System, Method And Kit
There is provided a system for detecting a drowning person within a water body, the system comprising (i) sonar sensors for forming a three dimensional grid of sonar waves within the water body, the grid having three dimensional grid cells; (ii) a movement path tracing unit adapted to be connected to the sonar sensors for tracing a movement path of a person within the water body by determining a sequence of successive grid cells crossed by the person within the grid in the course of said movement path, the determination of the successive grid cells being made based on detected propagation delays of the sonar waves forming the grid; and (iii) a drowning detection unit adapted to be connected to the movement path tracing unit for analysing the movement path of the person and issuing an alarm when the movement path of the person is indicative of a drowning person movement path. There is also provided a kit and method for detecting a drowning person within a water body.
Owner:KHALIFA UNIV OF SCI & TECH
Agricultural machine trajectory tracking and obstacle avoidance system and method based on multi-source information fusion
InactiveCN109508007AAvoid Tracking and Fail ScenariosSuitable for usePosition/course control in two dimensionsVehiclesNoise removalAmbient data
The invention relates to an agricultural machine trajectory tracking and obstacle avoidance system and method based on multi-source information fusion. The system comprises a user interaction module,an environment sensing module, a multi-source information fusion module, a path planning decision-making module and an execution module. The user interaction module is used for selecting key points bya user, generating a globally planned reference path and displaying the state of an agricultural machine in real time; the environment sensing module is used for acquiring current road conditions, environment data and vehicle pose information in real time; the multi-source information fusion module is used for conducting noise removal on information, collected by the environment sensing module, of different sensors in the same environment, and conducting fusion; the path planning decision-making module compares the obtained fused environment information with reference path information, and acurrent proper angular velocity control amount is determined; the execution module is communicated with the path planning decision-making module, and the agricultural machine is controlled to completea tracking task. The defect that an existing path tracking method is not high in precision and cannot achieve detouring when meeting with obstacles is overcome.
Owner:SOUTHEAST UNIV
Traffic flow integrated and distributed analytic system based on license plate identification data and processing method thereof
InactiveCN101546478AThe result is accurateRealize early warningRoad vehicles traffic controlData acquisitionSingle vehicle
The invention relates to a traffic flow integrated and distributed analytic system based on license plate identification data, which comprises a roadside data acquisition subsystem, a roadside communication subsystem and a license plate identification and acquisition treatment platform subsystem. The processing method comprises the following steps: firstly, storing and uploading flow rate information and vehicle information which are acquired from license plate identification sections of external fields; secondly, secondarily cleaning license plates which are acquired from the external fields and cannot be identified and identifying the license plates again; thirdly, tracking and updating vehicle paths which are acquired by the traffic flow integrated and distributed analytic system based on the license plate identification data; fourthly, recording integrated or distributed bicycle trip paths; fifthly, calculating the number of vehicle paths in a road network, wherein the vehicle paths accord with the specified vehicle type and have same integrated sections or distributed sections and the time of the vehicles passing through the integrated sections or the distributed sections is in the same period; sixthly, correcting the flow rate of various integrated and distributed paths; and seventhly, using dynamic graphics to display the traffic flow distribution data of regional integrated and distributed paths.
Owner:SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP +1
Method and apparatus for circuit designing of an LSI circuit without error paths
InactiveUS6308305B1Efficient executionEliminate timeSemiconductor/solid-state device manufacturingComputer programmed simultaneously with data introductionMicro fabricationPath tracing
There are disclosed a method and an apparatus for circuit designing, which enable arranging and wiring operations to be efficiently performed by using indices for arranging and wiring without the occurrence of any error paths. In the method and apparatus for circuit designing, path tracing is performed from one or more tracing start pins for a result of logical designing and the number of passing through each pin of cells to be arranged is counted during the path tracing. Thus, the method and apparatus for circuit designing are suitably used for designing of a circuit such as a LSI or the like, which has been enlarged in size and complex following an advance in a micro fabrication art.
Owner:FUJITSU LTD
Digital pen with tracing path and pressure sensor
The digital pen of the present invention includes one refill with path tracing assembly, which detects the shift of the nib in some direction through a light signal; and one pressure sensing assemblyconnected with the refill to detect the relative shift of the refill applied by some pressure to the digital pen and to convert the pressure into electric signal. The digital pen may be used in tracing hand writing input path and sensing hand's pressure.
Owner:WALTOP INT
Motion path planning method
The invention relates to the technical field of robot path planning and particularly relates to a motion path planning method. The method comprises the steps of establishing a system model of a tractor-towing trailer and extracting the state information of a pull-type mobile robot; expanding new nodes according to a pre-set step with an adjacent point as a starting point; tracking a desired path segment formed through tangential fitting and calculating the state information of the new nodes; judging whether the path tracking process satisfies a preset included angle constraint condition or not, and adding new nodes and the state information of the new nodes into a node tree, wherein the added new nodes satisfy the included angle constraint condition; then returning till a complete node tree containing a full path and one new node as a target point is formed; optimizing the full path to form an optimized path; and adopting the optimized path as the motion path of the pull-type mobile robot. According to the technical scheme of the invention, the path planning for the pull-type mobile robot can be realized. The folded and extruded phenomena of tractors and trailers are avoided.
Owner:708TH RES INST OF CSSC +1
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