Patent application number | Description | Published |
20090024353 | Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same - A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity. | 01-22-2009 |
20100094460 | Method and apparatus for simultaneous localization and mapping of robot - A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance. | 04-15-2010 |
20100152945 | Apparatus and method of localization of mobile robot - A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks. | 06-17-2010 |
20100324773 | Method and apparatus for relocating mobile robot - Provided is a method and apparatus for relocating a mobile robot when the mobile robot loses its position due to slipping. The method includes storing a moving path of the mobile robot and effective points on the moving path capable of finding an absolute position from a peripheral image; detecting an abnormal motion of the mobile robot; and when the abnormal motion of the mobile robot is detected, controlling the mobile robot to move to the effective point along a predetermined return path. | 12-23-2010 |
20110085699 | Method and apparatus for tracking image patch considering scale - A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale. | 04-14-2011 |
20110166763 | Apparatus and method detecting a robot slip - An apparatus and method for detecting a slip of a robot. According to the apparatus and method, the probability of a slip occurring may be preliminarily determined using a first acceleration obtained from an acceleration sensor and a second acceleration obtained from an encoder. Then, finally the occurrence of a slip may be determined using a change in a driving control signal. Thus, accurate detection of a slip can be realized while preventing incorrect determination of slip occurrence. | 07-07-2011 |
20110205338 | Apparatus for estimating position of mobile robot and method thereof - An apparatus and method for estimating the position of a mobile robot capable of reducing the time required to estimate the position is provided. The mobile robot position estimating apparatus includes a range data acquisition unit configured to acquire three-dimensional (3D) point cloud data, a storage unit configured to store a plurality of patches, each including points around a feature point which is extracted from previously acquired 3D point cloud data, and a position estimating unit configured to estimate the position of the mobile robot by tracking the plurality of patches from the acquired 3D point cloud data. | 08-25-2011 |
20130018285 | FOCUSED ULTRASOUND THERAPY APPARATUS AND METHOD OF CONTROLLING FOCAL POINTAANM PARK; Jun-hoAACI Hwaseong-siAACO KRAAGP PARK; Jun-ho Hwaseong-si KRAANM LEE; Hyoung-kiAACI Seongnam-siAACO KRAAGP LEE; Hyoung-ki Seongnam-si KRAANM LEE; Ho-taikAACI Yongin-siAACO KRAAGP LEE; Ho-taik Yongin-si KRAANM AHN; Min-suAACI SeoulAACO KRAAGP AHN; Min-su Seoul KRAANM PARK; Ji-youngAACI Yongin-siAACO KRAAGP PARK; Ji-young Yongin-si KR - A method of controlling a focus in a focused ultrasound therapy apparatus, the method including receiving an target area to which ultrasound is radiated to remove a lesion; determining a path through which the focus moves in the target area, depending on a form of the target area; and forming the focus on the determined path and then radiating ultrasound to the target area. | 01-17-2013 |
20130079681 | FOCUSED ULTRASOUND THERAPY APPARATUS AND FOCAL POINT CONTROLLING METHOD THEREOF - A focal point controlling method and a focused ultrasound therapy apparatus may be used in the treatment and removal of a lesion in a noninvasive surgical procedure by focusing ultrasonic waves. A focal point may be controlled by acquiring tissue characteristic information including physical characteristic values affecting propagation of an ultrasonic wave from a pre-diagnostic image that is a medical image obtained by capturing tissues on a path through which the ultrasonic wave propagates from a position from which the ultrasonic wave is generated to a target position on which a focal point is desired to be formed. The position at which the focal point is formed may be controlled by using the acquired tissue characteristic information. | 03-28-2013 |
20130165779 | TEMPERATURE ESTIMATION METHOD AND TEMPERATURE ESTIMATION APPARATUS USING THE SAME - An accuracy-improved temperature estimation method includes measuring a physical attribute of a tissue based on a reference signal and a received signal, a first estimation operation to estimate a first temperature of the tissue based on the physical attribute, calculating at least one parameter used in a bio heat transfer model based on the estimated first temperature, and a second estimation operation to estimate a second temperature of the tissue by using the calculated at least one parameter and the bio heat transfer model. | 06-27-2013 |
20140018676 | METHOD OF GENERATING TEMPERATURE MAP SHOWING TEMPERATURE CHANGE AT PREDETERMINED PART OF ORGAN BY IRRADIATING ULTRASOUND WAVE ON MOVING ORGANS, AND ULTRASOUND SYSTEM USING THE SAME - A method of generating a temperature map showing a temperature change in a predetermined part by irradiating ultrasound waves on a moving organ includes generating reference frames indicating images of an observed part including a treatment part in the predetermined organ during a predetermined period related to a movement cycle of the predetermined organ from echo signals transduced from reflected waves of ultrasound waves for diagnosis irradiated on the observed part during the predetermined period; generating a current frame indicating an image of the observed part at a time an ultrasound wave for treatment is irradiated on the treatment part from the echo signals; selecting a comparison frame that is one of the reference frames based on a similarity between the reference frames and the current frame; and generating a temperature map showing a temperature change in the observed part based on a difference between the comparison and current frames. | 01-16-2014 |
20140046183 | METHOD AND APPARATUS FOR ANALYZING ELASTOGRAPHY OF TISSUE USING ULTRASOUND WAVES - A method and apparatus for analyzing elastography of tissue using ultrasound waves, wherein elastography information of tissue in a region of interest (ROI) is analyzed by irradiating ultrasound waves for diagnosis towards the ROI to which a shear wave is induced from an ultrasound probe, receiving echo ultrasound waves, and acquiring three-dimensional (3D) ultrasound images with respect to the ROI. | 02-13-2014 |
20140121517 | METHOD AND APPARATUS FOR MONITORING TEMPERATURE USING ULTRASOUND - Provided are a method and apparatus for monitoring a temperature using an ultrasound wave. The method of monitoring a temperature using an ultrasound wave may include generating ultrasound speed data according to temperature in tissue of a target object, from ultrasound speed data according to temperature in each component forming the tissue, based on volume fraction of each of the components; and estimating a temperature of the tissue based on an ultrasound echo signal reflected by the tissue and the generated ultrasound speed data according to temperature. | 05-01-2014 |
20140187940 | METHOD OF CALCULATING DISPLACEMENT OF SHEAR WAVE, METHOD OF CALCULATING MECHANICAL MODULUS OF BODY, AND SYSTEM USING THE METHODS - A method of calculating a displacement of a shear wave includes inducing a shear wave in a body, obtaining a plurality of propagation frames including propagation information of the shear wave from an echo signal received from the body, determining a reference frame from among the plurality of propagation frames, and calculating a displacement of the shear wave based on the plurality of propagation frames and the reference frame. A shear modulus may be calculated by using a displacement of the shear wave after the displacement of the shear wave is calculated by comparing the reference frame and propagation frames. A mechanical modulus may be obtained by selecting an ultrasound image as a reference image after a shear modulus is calculated. | 07-03-2014 |
20140206996 | METHOD AND APPARATUS FOR GENERATING A TEMPERATURE IMAGE - Disclosed is a method and apparatus of generating a temperature image during ultrasonic treatment, the method including setting a first plane indicating a heating region where ultrasonic waves for treatment are irradiated and setting a second plane indicating a protective region around the heating region; irradiating the first plane with ultrasonic waves for diagnosis at a first frame rate, and irradiating the second plane with the ultrasonic waves for diagnosis at a second frame rate, the second frame rate being lower than the first frame rate; and generating the temperature image using frame images acquired from irradiating the ultrasonic waves for diagnosis. | 07-24-2014 |
20140358484 | DEFECT CELL CLUSTERING METHOD AND APPARATUS THEREOF - Provided are a method of clustering defects generated in bad samples shown on a defect map of bad samples including bad products, and an apparatus thereof. The defect cell clustering method includes generating a sample defect map showing a defect cell distribution by cell positions of bad samples comprised of products each including one or more defect cells among products each partitioned into a plurality of cells, selecting at least some cell positions having one or more defect cells as clustering targets from the sample defect map, selecting one or more suspected bad equipments for each of cell positions included in the clustering targets using pass equipment information for the product, and grouping the clustering targets into one or more clusters according to position coherence between a first cell position and a second cell position included in one cluster, the cell position and the second cell position each having at least one suspected bad equipment. | 12-04-2014 |
20140371774 | METHOD, APPARATUS, AND SYSTEM FOR GENERATING ULTRASOUND - An apparatus and a method are provided to generate an ultrasound to be transmitted from an ultrasound irradiation device. The apparatus and the method include acquiring a medical image including anatomical information about a subject, and calculating characteristics of a tissue in the subject, which may affect propagation of the ultrasound based on the medical image. The apparatus and method also determine a parameter of the ultrasound to create a focal point on the subject using the calculated characteristics, and generate the ultrasound according to the determined parameter. | 12-18-2014 |