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| 20090132087 | Learning Capture Points for Humanoid Push Recovery - A system and method is disclosed for controlling a robot having at least two legs, the robot subjected to an event such as a push that requires the robot to take a step to prevent a fall. In one embodiment, a current capture point is determined, where the current capture point indicates a location on a ground surface that is the current best estimate of a stepping location for avoiding a fall and for reaching a stopped state. The robot is controlled to take a step toward the current capture point. After taking the step, if the robot fails to reach a stopped state without taking any additional steps, an updated current capture point is determined based on the state of the robot after taking the step. The current capture points can be stored in a capture point memory and initialized based on a model of the robot. | 05-21-2009 |
| 20100161120 | Intelligent Stepping For Humanoid Fall Direction Change - A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location. | 06-24-2010 |
| 20100161126 | Humanoid Fall Direction Change Among Multiple Objects - A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy. | 06-24-2010 |
| 20100161131 | Inertia Shaping For Humanoid Fall Direction Change - A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity. | 06-24-2010 |
| 20100292838 | Machine Learning Approach for Predicting Humanoid Robot Fall - A system and method is disclosed for predicting a fall of a robot having at least two legs. A learned representation, such as a decision list, generated by a supervised learning algorithm is received. This learned representation may have been generated based on trajectories of a simulated robot when various forces are applied to the simulated robot. The learned representation takes as inputs a plurality of features of the robot and outputs a classification indicating whether the current state of the robot is balanced or falling. A plurality of features of the current state of the robot, such as the height of the center of mass of the robot, are determined based on current values of a joint angle or joint velocity of the robot. The current state of the robot is classified as being either balanced or falling by evaluating the learned representation with the plurality of features of the current state of the robot. | 11-18-2010 |
| 20110029130 | Systems and Methods for Controlling a Legged Robot Using a Two-Phase Disturbance Response Strategy - Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy. | 02-03-2011 |
| 20120035762 | Systems and Methods for Controlling a Legged Robot Based on Rate of Change of Angular Momentum - Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)} | 02-09-2012 |
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| 20100098407 | METHOD AND SYSTEM FOR PROTECTION SWITCHING IN ETHERNET PASSIVE OPTICAL NETWORKS - One embodiment provides a system that performs protection switching in an Ethernet passive optical network (EPON), which includes an optical line terminal (OLT) and at least one optical network unit (ONU). The system is configured with at least one redundant component for the OLT and/or ONUs, wherein the redundant component can be optical or electrical, and can be a port, line card or link. The system provides protection by detecting a failure, and switching automatically to the redundant components to reduce service disruption time. The protection switching comprises: preserving the existing configuration over the loss of at least one of a multiple-point control protocol (MPCP) message; an operations, administration and maintenance (OAM) message; and a signal on the physical layer. The system recovers from the failure without performing ONU discovery. | 04-22-2010 |
| 20100111523 | EPON WITH POWER-SAVING FEATURES - One embodiment provides a system for power saving in an Ethernet Passive Optic Network (EPON). The system includes an optical line terminal (OLT), an optical network unit (ONU), a traffic-detection module configured to detect status of traffic to and from the ONU, and a power-management module configured to place the ONU in sleep mode based on the detected traffic status. The ONU includes an optical transceiver that includes an optical transmitter configured to transmit optical signals to the OLT and an optical receiver configured to receive optical signals from the OLT. | 05-06-2010 |
| 20100329668 | Method and System for Optical Performance Monitoring in Ethernet Passive Optical Networks - One embodiment provides a system that tests optical performance in an Ethernet passive optical network (EPON), which includes an optical line terminal (OLT) and at least one optical network unit (ONU). The system configures an ONU with a circular queue that contains test frames for testing optical performance. The OLT then notifies the ONU to transmit test frames at a specified data rate for a specified duration. After receiving test frames at the OLT, the system measures frame loss and/or bit error rate based on the received test frames. | 12-30-2010 |
| 20110058813 | Ethernet Passive Optical Network Over Coaxial (EPOC) - Embodiments of the present invention exploit the existing capabilities of the Ethernet Passive Optical Network (EPON) MAC layer, designed for fiber optics communications, to provide a low cost MAC layer with upper layer connectivity over a hybrid fiber coaxial (HFC) network. In particular, embodiments allow for the EPON MAC to be used end-to-end (i.e., from an optical line terminal (OLT) to a coaxial network unit (CNU)) in a HFC network, thereby fully leveraging the packet processing capabilities, QoS functions, and management features of the EPON MAC. Furthermore, embodiments enable unified provisioning and management for both fiber and coaxial network units in a HFC network. | 03-10-2011 |
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| 20080294604 | XQUERY JOIN PREDICATE SELECTIVITY ESTIMATION - A method for estimating a selectivity of a join predicate in an XQuery expression is provided. The method provides for determining a first sequence size of a first sequence in the join predicate, determining a second sequence size of a second sequence in the join predicate, determining a type of comparison operator used between the first sequence and the second sequence, estimating the selectivity of the join predicate based on the first sequence size, the second sequence size, and the type of comparison operator used, selecting an execution plan for the XQuery expression based on the selectivity of the join predicate estimated, and executing the XQuery expression using the execution plan selected. | 11-27-2008 |
| 20090006314 | INDEX EXPLOITATION - Various embodiments of a computer-implemented method, computer program product, and data processing system are provided that generate an index plan that produces a superset of data comprising the query result. In some embodiments, a computer-implemented method, computer program product, and data processing system produce a maximal-index-satisfiable query tree. | 01-01-2009 |
| 20090006447 | BETWEEN MATCHING - Various embodiments of a computer-implemented method, computer program product, and data processing system are provided that identify a range filter in a mark-up language query. In response to receiving a query of at least one mark-up language document, the query comprising a plurality of singleton filters, at least one group of the plurality of singleton filters are identified. Each group of comprises at least two singleton filters, wherein each group is equivalent to a range filter having a start value and a stop value. The start value and stop value are based on at least two singleton filters of each group. A query plan is generated to process the query based on, at least in part, a range defined by the start value and the stop value of the at least two singleton filters of each group. | 01-01-2009 |
| 20090070303 | GENERALIZED PARTITION PRUNING IN A DATABASE SYSTEM - A system for executing a query on data that has been partitioned into a plurality of partitions is provided. The system includes providing partitioned data including one or more columns and the plurality of partitions. The partitioned data includes a limit key value associated with each column for a given partition. The system further includes receiving a query including a predicate on one of the one or more columns of the partitioned data; and utilizing the predicate on the one of the one or more columns in a pruning decision on at least one of the one or more partitions based on the limit key values associated with the plurality of partitions. | 03-12-2009 |
| 20100125447 | LANGUAGE IDENTIFICATION FOR DOCUMENTS CONTAINING MULTIPLE LANGUAGES - Multiple nonoverlapping languages within a single document can be identified. In one embodiment, for each of a set of candidate languages, a set of non-overlapping languages is defined. The document is analyzed under the hypothesis that the whole document is in one language and that part of the document is in one language while the rest is in a different, non-overlapping language. Language(s) of the document are identified based on comparing these competing hypotheses across a number of language pairs. In another embodiment, transitions between non-overlapping character sets are used to segment a document, and each segment is scored separately for a subset of candidate languages. Language(s) of the document are identified based on the segment scores. | 05-20-2010 |
| 20100125448 | AUTOMATED IDENTIFICATION OF DOCUMENTS AS NOT BELONGING TO ANY LANGUAGE - An “impostor profile” for a language is used to determine whether documents are in that language or no language. The impostor profile for a given language provides statistical information about the expected results of applying a language model for one or more other (“impostor”) languages to a document that is in fact in the given language. After a most likely language for a test document is identified, the impostor profile is used together with the scores for the test document in the various impostor languages to determine whether to identify the test document as being in the most likely language or in no language. | 05-20-2010 |
| 20110087668 | CLUSTERING OF NEAR-DUPLICATE DOCUMENTS - Documents likely to be near-duplicates are clustered based on document vectors that represent word-occurrence patterns in a relatively low-dimensional space. Edit distance between documents is defined based on comparing their document vectors. In one process, initial clusters are formed by applying a first edit-distance constraint relative to a root document of each cluster. The initial clusters can be merged subject to a second edit-distance constraint that limits the maximum edit distance between any two documents in the cluster. The second edit-distance constraint can be defined such that whether it is satisfied can be determined by comparing cluster structures rather than individual documents. | 04-14-2011 |
