The present invention relates generally to robotic systems and, more specifically, to auto-docking and energy management systems for autonomous robots.
Automated robots and robotic devices are becoming more prevalent today and are used to perform tasks traditionally considered mundane, time-consuming, or dangerous. As the programming technology increases, so too does the demand for robotic devices that require a minimum of human interaction for tasks such as robot refueling, testing, and servicing. A goal is a robot that could be configured a single time, which would then operate autonomously, without any need for human assistance or intervention.
Robotic devices and associated controls, navigational systems, and other related systems moving in this direction are being developed. For example, U.S. Pat. No. 6,594,844 discloses a Robot Obstacle Detection System, the disclosure of which is hereby incorporated by reference in its entirety. Additional robot control and navigation systems are disclosed in U.S. patent application Ser. Nos. 10/167,851, 10/056,804, 10/696,456, 10/661,835, and 10/320,729 the disclosures of which are hereby incorporated by reference in their entireties.
Generally, autonomous robotic devices include an on-board power unit (usually a battery) that is recharged at a base or docking station. The types of charging stations and methods used by robots in finding or docking with them (e.g., radio signals, dead reckoning, ultrasonic beams, infrared beams coupled with radio signals, etc.) vary greatly in both effectiveness and application. Wires buried below the surface on which the robot operates are common, but are obviously limited in application, as it is costly to install guide wires within the floor of a building or below a road surface. If installed on the surface, the guide wires may be damaged by the robot itself or other traffic. Moreover, the wires need to be moved when the base station is relocated. A base station that emits a beam or beacon to attract the robotic device is, therefore, more desirable. Such devices, however, still exhibit numerous operational limitations.
Base stations that utilize emitted signals often still require additional safeguards to ensure proper mating between the robot and base station and, therefore, safe and effective charging. Some require mechanical locking devices to prevent dislocation of the robot during charging, or other components such as raised guiding surfaces to direct the robot into contact with the station. Such components can increase the size of the base station while decreasing the aesthetics, important considerations for automated robots directed at the consumer market. An increase in base station size also typically makes unobtrusive placement in the home more difficult and decreases the floor area available for cleaning. Additionally, existing base stations generally lack the ability to protect themselves from contact with the robot during operation, increasing the likelihood of damage to either the station or robot, or dislocation of the base station. Such an unintentional collision may require human intervention to reposition the base station or repair a damaged component.
These limitations are, at present, a hurdle to creating a truly independent autonomous robot, free from human interaction. There is, therefore, a need for a robot and base station that can ensure proper mating regardless of location of the base station. Moreover, a system that can prevent inadvertent dislocation of the base station by eliminating collisions between the station and robot is desirable.
In one aspect, the invention relates to a method for energy management in a robotic device, the robotic device including at least one energy storage unit and a signal detector. The method includes the steps of: providing a base station for mating with the robotic device, the base station having a plurality of signal emitters including a first signal emitter and a second signal emitter; determining a quantity of energy stored in the energy storage unit, the quantity characterized at least by a high energy level and a low energy level; and performing, by the robotic device, a predetermined task based at least in part on the quantity of energy stored. In various embodiments of the foregoing aspect, coulometry or setting a time period are used to determine the quantity of energy stored or task period of the device.
In other embodiments of the foregoing aspect, the step of performing the predetermined task occurs when the quantity of energy stored exceeds the high energy level, the predetermined task including movement of the robotic device away from the base station in response to reception, by the signal detector, of a base station avoidance signal. Still other embodiments include the step of returning the robotic device to the base station in response to reception, by the signal detector, of a base station homing signal and/or returning the robotic device to the base station when the quantity of energy stored is less than the high energy level. In other embodiments of the foregoing aspect, the step of returning the robotic device to the base station occurs when the quantity of energy stored is less than the low energy level, and wherein the predetermined task includes a reduction in energy use by the robotic device. Various embodiments further include altering a travel characteristic of the robotic device to locate effectively the base station, charging the device upon contact, and/or resuming the predetermined or a different task.
In another aspect, the invention relates to a method of docking a robotic device with a base station that has a plurality of signal emitters, including a first signal emitter and a second signal emitter. The method includes the steps of orienting the robotic device in relation to (i) a first signal transmitted by the first signal emitter and (ii) a second signal transmitted by the second signal emitter, and maintaining an orientation of the robotic device relative to the first and second signals as the robotic device approaches to the base station. Certain embodiments of the method of the foregoing aspect include the steps of detecting, by the robotic device, an overlap between the first signal and the second signal; following, by the robotic device, a path defined at least in part by the signal overlap; and docking the robotic device with the base station. Other related embodiments include reducing the velocity of the robotic device in the step of following the path defined at least in part by the signal overlap.
Various embodiments of the method of the foregoing aspect also include, during the step of docking the robotic device with the base station: detecting, by the robotic device, contact with charging terminals on the base station, and stopping movement of the robotic device. In some embodiments, contact of one or more on-board tactile sensors can be used, additionally or alternatively, to stop movement of the robotic device. Other embodiments include the step of charging fully the robotic device and/or charging the robotic device to one of a plurality of charging levels. Certain embodiments allow for resumption of the predetermined task or a new task upon completion of charging.
In another aspect of the invention, the invention relates to an autonomous system including a base station, that includes charging terminals for contacting external terminals of a robotic device, and a first signal emitter and a second signal emitter. Certain embodiments of the above aspect provide that the first signal emitter transmit a base station avoidance signal and the second signal emitter transmit a base station homing signal. In other embodiments, the homing signal is a pair of signals, which can be either the same or different. The pair of signals may be emitted by a pair of emitters. In some embodiments, the signals may overlap, and may be optical signals.
Certain embodiments of the above aspect further include a robotic device for performing a predetermined task, the robotic device having at least one energy storage unit with an external terminal for contacting the charging terminal, and at least one signal detector. In certain embodiments, the at least one signal detector is adapted to detect at least one optical signal. The robotic device has, in certain embodiments, the capability to distinguish between the signals generated by multiple emitters.
Still other aspects of the current invention relate to an energy manager including: a robotic device having at least one energy storage unit and a signal detector; a base station for mating with the robotic device, the base station having a plurality of signal emitters including a first signal emitter and a second signal emitter; and a processor for determining a quantity of energy stored in the energy storage unit. Certain embodiments of the foregoing aspect use coulometry or set a time period to determine the quantity of energy stored or task period of the device. In still other embodiments the first signal emitter transmits an avoidance signal, thereby restricting a movement of the robotic device to directions away from the base station, and the second signal emitter transmits a homing signal, thereby directing a movement of the robotic device to the base station.
Other aspects of the invention relate to a homing system including a robotic device having a signal detector, and a base station having a first signal emitter and a second signal emitter. Certain embodiments of the foregoing aspect overlap signals transmitted by the first signal emitter and the second signal emitter. Still other embodiments further include charging terminals on the base station, and charging terminals on the robotic device.
An additional aspect of the invention relates to a homing system for a base station including a first signal emitter that transmits a first signal projected outward from the first signal emitter, and a second signal emitter that transmits a second signal projected outward from the second signal emitter, such that the first signal and the second signal overlap. Another aspect relates to an avoidance system for restricting a movement of at least one of a first device and a second device, the avoidance system including a first device that emits a signal, and a second device that receives the signal, thereby restricting the movement of at least one of the first device and the second device.
Still another aspect of the invention relates to a base station, including a base plate and a backstop, for a robotic device including: electrical contacts located on a top side of the base plate; a first signal emitter located on the backstop wherein a signal transmitted by the first signal emitter restricts the robotic device from moving within a predetermined distance of the base station; and a second signal emitter and a third signal emitter, wherein a plurality of signals transmitted by the second signal emitter and the third signal emitter guide at least one electrical contact of the robotic device to contact the at least one electrical contact of the base station.
Another aspect of the invention relates to a method of charging a battery of a device, the method having the steps of providing low power to charging terminals of a charger, detecting presence of the device by monitoring at least one of a predetermined change in and a predetermined magnitude of a parameter associated with the charger, and increasing power to the charging terminals to charge the battery. One embodiment of the method of the above aspect further includes the steps of determining a level of charge in the device, and permitting charging of the battery in the device when the level of charge is below a predetermined threshold.
Still another aspect of the invention relates to a system for charging a mobile device, the system having: a stationary charger comprising first charging terminals, circuitry for detecting presence of the device by monitoring at least one of a predetermined change in and a predetermined magnitude of a parameter associated with the charger, and a mobile device having: a battery, and second charging terminals adapted to mate with first charging terminals. Various embodiments of the above aspect include systems wherein the circuitry determines a level of charge in the battery and controls a power level provided to the first charging terminals. Still other embodiments include systems wherein the circuitry increases the power level provided to the first charging terminals upon measuring a predetermined voltage across the first charging terminals when mated with the second charging terminal.
In the drawings, like reference characters generally refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of the invention. In the following description, various embodiments of the present invention are described with reference to the following drawings, in which:
The contacts 16 are sized and positioned to reliably and repeatably contact the corresponding contacts on the robot. For example, the contacts 16 may be oversized and/or may extend above the base plate 12, e.g., in a domed shape, to ensure contact with the robot contacts. Alternatively, the contacts 16 may be flush-mounted on a base plate 12 with a higher angle of rise or may protrude above a base plate 12 that is flat or has substantially no rise. Depending on the application, the base plate 12 angle of rise may vary from 0° to up to 20° and greater. The embodiment depicted in
The backstop 14 provides locations for many of the base station 10 components. Specifically, in the depicted embodiment, the backstop 14 includes a top signal emitter 18, a front signal emitter 20, several indicator LEDs 22, and an AC plug receptacle 24. The top signal emitter 18 generates a first signal, such as an avoidance signal (
While the location of the top signal emitter 18 may vary, locating the emitter 18 on top of the backstop 14 transmits the avoidance signal through an uninterrupted 360° field around the base station 10. Alternatively, base stations designed for corner, on-wall, or near-wall installation may project the avoidance signal substantially only along the unobstructed side. The front signal emitter 20 projects one or more additional signals, such as homing beams (
In the embodiment depicted, the housing infrastructure 42 of the robot 40 includes a chassis 44, a cover 46, and a displaceable bumper 48. The chassis 44 may be molded from a material such as plastic as a unitary element that includes a plurality of preformed wells, recesses, and structural members for, inter alia, mounting or integrating elements of the various subsystems that operate the robotic device 40. Such subsystems may include a microprocessor, a power subsystem (including one or more power sources for the various subsystems and components), a motive subsystem, a sensor subsystem, and task-specific component subsystems. The cover 46 may be molded from a material such as plastic as a unitary element that is complementary in configuration with the chassis 44 and provides protection of and access to elements and components mounted to the chassis 44. The chassis 44 and the cover 46 are detachably integrated in combination by any suitable means (e.g., screws), and in combination, the chassis 44 and cover 46 form a structural envelope of minimal height having a generally cylindrical configuration that is generally symmetrical along the fore-aft axis FA.
The displaceable bumper 48, which has a generally arcuate configuration, is mounted in movable combination at the forward portion of the chassis 44 to extend outwardly therefrom (the “normal operating position”). The mounting configuration of the displaceable bumper 48 is such that it is displaced towards the chassis 44 (from the normal operating position) whenever the bumper 48 encounters a stationary object or obstacle of predetermined mass (the “displaced position”), and returns to the normal operating position when contact with the stationary object or obstacle is terminated (due to operation of a control sequence which, in response to any such displacement of the bumper 48, implements a “bounce” mode that causes the robot 40 to evade the stationary object or obstacle and continue its task routine).
Mounted on the robotic device 40 are a pair of detectors 50, 52. In this embodiment of the robotic device 40, the detectors 50, 52 receive signals projected from the emitters 18, 20 on the base station 10. In other embodiments, a single detector receives signals from both emitters 18, 20 on the base station 10, or more than two detectors may be used. In certain embodiments, the detectors 50, 52 are standard infrared (“IR”) detector modules, that include a photodiode and related amplification and detection circuitry, in conjunction with an omni-directional lens, where omni-directional refers to a substantially single plane. The IR detector module can be of the type manufactured by East Dynamic Corporation (p/n IRM-8601S). However, any detector, regardless of modulation or peak detection wavelength, can be used as long as the emitters 18, 20 on the base station 10 are adapted to match the detectors 50, 52 on the robot 40. In another embodiment, IR phototransistors may be used with or without electronic amplification elements and may be connected directly to the analog inputs of a microprocessor. Signal processing may then be used to measure the intensity of IR light at the robot 40, which provides an estimate of the distance between the robot 40 and the source of IR light. Alternatively, radio frequencies, magnetic fields, and ultrasonic sensors and transducers may be employed. As shown in
While the detector 50 is mounted at the highest point of the robot 40 in order to avoid shadows, it is desirable in certain applications to minimize the height of the robot 40 and/or the detector 50 to prevent operational difficulties and to allow the robot 40 to pass under obstacles. In certain embodiments, the detector 50 can be spring-mounted to allow the detector 50 to collapse into the body of the robot 40 when the robot 40 runs under a solid overhanging object.
One of skill in the art will recognize that, in alternative embodiments, multiple detectors can be used. Such an embodiment might include using multiple side-mounted sensors or detectors. Each of the sensors can be oriented in a manner so that a collective field of view of all the sensors corresponds to that of the single, top mounted sensor. Because a single, omni-directional detector is mounted at the highest point of the robot for optimal performance, it is possible to lower the profile of the robot by incorporating multiple, side mounted detectors.
The undercarriage of the robotic device 40 is indicated generally by numeral 54. One or more charging contacts are present in the undercarriage 54, configured in such a location to correspond with the location of the electrical contacts 16 of the base station 10. Generally, the charging contacts on the robotic device mirror those present on the base station 10, regardless of their location or orientation. In certain embodiments, the charging contacts may be larger on either the base station 10 or robot 40, to allow wider compliance in making contact. Also, the motive and task specific components of the robot 40 are located in the undercarriage 54. The motive components may include any combination of motors, wheels, drive shafts, or tracks as desired, based on cost or intended application of the robot 40, all of which are well known in the art. The motive components may include at least one caster 56 which, in this embodiment, drives the robot 40 and mates with the depression 26 on the base plate 12. As the tasks to which the robotic device 40 is suited are virtually unlimited, so too are the components to perform those tasks. For example, the robotic device 40 may be used for floor waxing and polishing, floor scrubbing, ice resurfacing (as typically performed by equipment manufactured under the brand name Zamboni®), sweeping and vacuuming, unfinished floor sanding and stain/paint application, ice melting and snow removal, grass cutting, etc. Any number of components may be required for such tasks, and may each be incorporated into the robotic device 40, as necessary. For simplicity, this application will describe vacuuming as the demonstrative predetermined task. It will be apparent, though, that the energy management and auto-docking functions disclosed herein have wide application across a variety of robotic systems.
The robotic device 40 uses a variety of behavioral modes to vacuum effectively a working area. Behavioral modes are layers of control systems that can be operated in parallel. The microprocessor is operative to execute a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes for any given scenario, based upon inputs from the sensor system. The microprocessor is also operative to coordinate avoidance, homing, and docking maneuvers with the base station 10.
Generally, the behavioral modes for the described robotic device 40 can be characterized as: (1) coverage behavioral modes; (2) escape behavioral modes; and (3) safety behavioral modes. Coverage behavioral modes are primarily designed to allow the robotic device 40 to perform its operations in an efficient and effective manner, while the escape and safety behavioral modes are priority behavioral modes implemented when a signal from the sensor system indicates that normal operation of the robotic device 40 is impaired (e.g., obstacle encountered), or is likely to be impaired (e.g., drop-off detected).
Representative and illustrative coverage behavioral modes (for vacuuming) for the robotic device 40 include: (1) a Spot Coverage pattern; (2) an Obstacle-Following (or Edge-Cleaning) Coverage pattern, and (3) a Room Coverage pattern. The Spot Coverage pattern causes the robotic device 40 to clean a limited area within the defined working area, e.g., a high-traffic area. In a certain embodiments the Spot Coverage pattern is implemented by means of a spiral algorithm (but other types of self-bounded area algorithms, such as polygonal, can be used). The spiral algorithm, which causes outward or inward spiraling movement of the robotic device 40, is implemented by control signals from the microprocessor to the motive system to change the turn radius/radii thereof as a function of time or distance traveled (thereby increasing/decreasing the spiral movement pattern of the robotic device 40).
The robotic device 40 is operated in the Spot Coverage pattern for a predetermined or random period of time, for a predetermined or random distance (e.g., a maximum spiral distance) and/or until the occurrence of a specified event, e.g., activation of one or more of the obstacle detection systems (collectively a transition condition). Once a transition condition occurs, the robotic device 40 can implement or transition to a different behavioral mode, e.g., a Straight Line behavioral mode (in one embodiment of the robotic device 40, the Straight Line behavioral mode is a low priority, default behavior that propels the robot in an approximately straight line at a preset velocity of approximately 0.306 m/s) or a Bounce behavioral mode in combination with a Straight Line behavioral mode. The Bounce behavioral mode is a basic function that allows the robot 40 to evade a stationary object or obstacle and continue its task routine. Avoidance is achieved by executing a series of turns until the obstacle is no longer detected (i.e., the bumper 48 is no longer compressed).
If the transition condition is the result of the robotic device 40 encountering an obstacle, the robotic device 40 can take other actions in lieu of transitioning to a different behavioral mode. The robotic device 40 can momentarily implement a behavioral mode to avoid or escape the obstacle and resume operation under control of the spiral algorithm (i.e., continue spiraling in the same direction). Alternatively, the robotic device 40 can momentarily implement a behavioral mode to avoid or escape the obstacle and resume operation under control of the spiral algorithm (but in the opposite direction—reflective spiraling).
The Obstacle-Following Coverage pattern causes the robotic device 40 to clean the perimeter of the defined working area, e.g., a room bounded by walls, and/or the perimeter of an obstacle (e.g., furniture) within the defined working area. Preferably, the robotic device 40 utilizes an obstacle-following system to continuously maintain its position with respect to an obstacle, such as a wall or a piece of furniture, so that the motion of the robotic device 40 causes it to travel adjacent to and concomitantly clean along the perimeter of the obstacle. Different embodiments of the obstacle-following system can be used to implement the Obstacle-Following behavioral pattern.
In certain embodiments, the obstacle-following system is operated to detect the presence or absence of the obstacle. In an alternative embodiment, the obstacle-following system is operated to detect an obstacle and then maintain a predetermined distance between the obstacle and the robotic device 40. In the first embodiment, the microprocessor is operative, in response to signals from the obstacle-following system, to implement small clockwise or counterclockwise turns to maintain its position with respect to the obstacle. The robotic device 40 implements a small clockwise turn when the robotic device 40 transitions from obstacle detection to non-detection (reflection to non-reflection) or to implement a small counterclockwise turn when the robotic device 40 transitions from non-detection to detection (non-reflection to reflection). Similar turning behaviors are implemented by the robotic device 40 to maintain the predetermined distance from the obstacle.
The robotic device 40 is operated in the Obstacle-Following behavioral mode for a predetermined or random period of time, for a predetermined or random distance (e.g., a maximum or minimum distance) and/or until the occurrence of a specified event, e.g., activation of one or more of the obstacle detection system a predetermined number of times (collectively a transition condition). In certain embodiments, the microprocessor will cause the robotic device 40 to implement an Align behavioral mode upon activation of the obstacle-detection system in the Obstacle-Following behavioral mode, wherein the robot 40 implements a minimum angle counterclockwise turn to align the robotic device 40 with the obstacle.
The Room Coverage pattern can be used by the robotic device 40 to clean any defined working area that is bounded by walls, stairs, obstacles or other barriers (e.g., a virtual wall unit that prevents the robotic device 40 from passing through an otherwise unbounded zone). Certain embodiments of the Room Coverage pattern include the Random-Bounce behavioral mode in combination with the Straight Line behavioral mode. Initially, the robotic device 40 travels under control of the Straight-Line behavioral mode (wheels operating at the same rotational speed in the same direction) until an obstacle is encountered. The obstacle may be indicated by physical contact with a wall or detection of the base station avoidance signal. Upon activation of one or more of the obstacle detection system, the microprocessor is operative to compute an acceptable range of new directions based upon the obstacle detection system activated. The microprocessor selects a new heading from within the acceptable range and implements a clockwise or counterclockwise turn to achieve the new heading with minimal movement. In some embodiments, the new turn heading may be followed by forward movement to increase the cleaning efficiency of the robotic device 40. The new heading may be randomly selected across the acceptable range of headings, or based upon some statistical selection scheme, such as Gaussian distribution. In other embodiments of the Room Coverage behavioral mode, the microprocessing unit can be programmed to change headings randomly or at predetermined times, without input from the sensor system.
The robotic device 40 is operated in the Room Coverage behavioral mode for a predetermined or random period of time, for a predetermined or random distance (e.g., a maximum or minimum distance) and/or until the occurrence of a specified event, e.g., activation of the obstacle-detection system a predetermined number of times (collectively a transition condition).
Certain embodiments of the robotic device 40 include four escape behavioral modes: a Turn behavioral mode, an Edge behavioral mode, a Wheel Drop behavioral mode, and a Slow behavioral mode. One skilled in the art will appreciate that other behavioral modes can be utilized by the robotic device 40. One or more of these behavioral modes may be implemented, for example, in response to a current rise in one of the task components (indicating some sort of interference), the forward bumper 48 being in compressed position for determined time period, or detection of a wheel-drop event.
In the Turn behavioral mode, the robotic device 40 turns in place in a random direction, starting at higher velocity (e.g., twice normal turning velocity) and decreasing to a lower velocity (one-half normal turning velocity), i.e., small panic turns and large panic turns, respectively. Low panic turns are preferably in the range of 45° to 90°, large panic turns are preferably in the range of 90° to 270°. The Turn behavioral mode prevents the robotic device 40 from becoming stuck on surface impediments (e.g., high spot on carpet), from becoming stuck under other obstacles (e.g., an overhang), or from becoming trapped in a confined area.
In the Edge behavioral mode, the robotic device 40 follows the edge of an obstacle unit it has turned through a predetermined number of degrees, without activation of any of the obstacle detection units, or until the robotic device 40 has turned through a predetermined number of degrees, since initiation of the Edge behavioral mode. The Edge behavioral mode allows the robotic device 40 to move through the smallest possible openings to escape from confined areas.
In the Wheel Drop behavioral mode, the microprocessor reverses the direction of the main wheel drive assemblies momentarily, then stops them. If the activated wheel drop sensor deactivates within a predetermined time, the microprocessor then reimplements the behavioral mode that was being executed prior to the activation of the wheel drop sensor.
In response to certain events, e.g., activation of a wheel drop sensor or a cliff detector, the Slow behavioral mode is implemented to slow down the robotic device 40 for a predetermined distance and then ramp back up to its normal operating speed.
When a safety condition is detected by the sensor subsystem, e.g., a series of task component or wheel stalls that cause the corresponding electric motors to be temporarily cycled off, or a wheel drop sensor or a cliff detection sensor activated for greater that a predetermined period of time, the robotic device 40 is generally cycled to an off state. In addition, an audible alarm may be generated.
The foregoing description of typical behavioral modes for the robotic device 40 are intended to be representative of the types of operating modes that can be implemented by the robotic device 40. One skilled in the art will appreciate that the behavioral modes described above can be implemented in other combinations and other modes can be defined to achieve a desired result in a particular application.
A navigational control system may be used advantageously in combination with the robotic device 40 to enhance the cleaning efficiency thereof, by adding a deterministic component (in the form of a control signal that controls the movement of the robotic device 40) to the motion algorithms, including random motion, autonomously implemented by the robotic device 40. The navigational control system operates under the direction of a navigation control algorithm. The navigation control algorithm includes a definition of a predetermined triggering event.
Broadly described, the navigational control system, under the direction of the navigation control algorithm, monitors the movement activity of the robotic device 40. In one embodiment, the monitored movement activity is defined in terms of the “position history” of the robotic device 40, as described in further detail below. In another embodiment, the monitored movement activity is defined in terms of the “instantaneous position” of the robotic device 40.
The predetermined triggering event is a specific occurrence or condition in the movement activity of the robotic device 40. Upon the realization of the predetermined triggering event, the navigational control system operates to generate and communicate a control signal to the robotic device 40. In response to the control signal, the robotic device 40 operates to implement or execute a conduct prescribed by the control signal, i.e., the prescribed conduct. This prescribed conduct represents a deterministic component of the movement activity of the robotic device 40.
While the robotic device 40 is vacuuming, it will periodically approach the stationary base station 10. Contact with the base station 10 could damage or move the base station into an area that would make docking impossible. Therefore, avoidance functionality is desirable. To avoid inadvertent contact, the base station 10 may generate an avoidance signal 60, as depicted in
Here, the avoidance signal 60 is depicted as an omni-directional (i.e., single plane) infrared beam, although other signals are contemplated, such as a plurality of single stationary beams or signals. If stationary beams are used, however, a sufficient number could provide adequate coverage around the base station 10 to increase the chances of the robotic device 40 encountering them. When the detector 50 of the robotic device 40 receives the avoidance signal 60 from the emitter 18, the robotic device 40 can alter its course, as required, to avoid the base station 10. Alternatively, if the robotic device 40 is actively or passively seeking the base station 10 (for recharging or other docking purposes), it can alter its course toward the base station 10, such as by circling the base station 10, in such a way to increase the chances of encountering the homing signals described with respect to
In certain embodiments, a collimated IR emitter is used, such as Waitrony p/n IE-320H. Because of potential interference from sunlight and other IR sources, most IR devices, such as remote controls, personal digital assistants and other IR communication devices, emit signals that may be modulated. Herein, the emitters 18, 20 modulate the beams at 38 kHz. In an embodiment of the present invention, additional modulation of the beams at a frequency, for example 500 Hz, different from the frequency of common IR bit streams, prevents interference with other IR equipment. Generally, the avoidance signal 60 is coded, as are the homing signals 62, 64. The bit encoding method as well as binary codes are selected such that the robot 40 can detect the presence of each signal, even if the robot 40 receives multiple codes simultaneously.
Whenever a measurable level of IR radiation from the avoidance signal 60 strikes the detector 50, the robot's IR avoidance behavior is triggered. In one embodiment, this behavior causes the robot 40 to spin in place to the left until the IR signal falls below detectable levels. The robot 40 then resumes its previous motion. Spinning left is desired in certain systems because, by convention, the robot may attempt to keep all objects to its right during following operations. The robot's avoidance behavior is consistent with its other behaviors if it spins left on detecting the avoidance signal 60. In one embodiment, the detector 50 acts as a gradient detector. When the robot 40 encounters a region of higher IR intensity, the robot 40 spins in place. Because the detector 50 is mounted at the front of the robot 40 and because the robot 40 does not move backward, the detector 50 always “sees” the increasing IR intensity before other parts of the robot 40. Thus, spinning in place causes the detector 50 to move to a region of decreased intensity. When the robot 40 next moves forward, it necessarily moves to a region of decreased IR intensity—away from the avoidance signal 60.
In other embodiments, the base station 10 includes multiple coded emitters at different power levels or emitters that vary their power level using a system of time multiplexing. These create concentric coded signal rings which enable the robot 40 to navigate towards the base station 10 from far away in the room. Thus, the robot 40 would be aware of the presence of the base station 10 at all times, facilitating locating the base station 10, docking, determining how much of the room has been cleaned, etc. Alternatively, the robot 40 uses its motion through the IR field to measure a gradient of IR energy. When the sign of the gradient is negative (i.e., the detected energy is decreasing with motion), the robot 40 goes straight (away from the IR source). When the sign of the gradient is positive (energy increasing), the robot 40 turns. The net effect is to implement a “gradient descent algorithm,” with the robot 40 escaping from the source of the avoidance signal 60. This gradient method may also be used to seek the source of emitted signals. The concentric rings at varying power levels facilitate this possibility even without a means for determination of the raw signal strength.
A flowchart of one embodiment of the control logic of the avoidance behavior 100 is shown in
While in flowchart step 120, the direction selection algorithm 120a, illustrated in the flowchart shown in
In other embodiments, the robot 40 can always turn in a single direction or choose a direction randomly. When the robot 40 always turns in one direction, it may get stuck in a loop by turning away from the beam, bumping into another obstacle in a room, turning back toward the beam, seeing the beam again, turning away, bumping again, ad infinitum. Moreover, when the robot 40 only turns in a single direction, it consequently may fail to vacuum certain areas of the floor. Thus, where the robot's task is to complete work evenly throughout a room, a single turning direction may not be optimal. If the direction is chosen purely randomly, the robot 40 may turn back and forth often, as it encounters the beam.
Again referring to
In addition to operating as navigational beacons, homing signals 62, 64 (and even the avoidance signal 60) may also be used to transmit information, including programming data, fail safe and diagnostic information, docking control data and information, maintenance and control sequences, etc. In such an embodiment, the signals can provide the control information, dictating the robot's reactions, as opposed to the robot 40 taking certain actions upon contacting certain signals from the base station 10. In that case, the robot 40 functions as more of a slave to the base station 10, operating as directed by the signals sent.
The robot 40 performs its docking with the base station 10 accurately and repeatably, without the need for gross mechanical guidance features. The two homing signals 62, 64 are distinguishable by the robotic device, for example as a red signal 62 and a green signal 64. IR beams are generally used to produce the signals and, as such, are not visible. The color distinction is given for illustrative purposes only, and any “color” (i.e., signal bit pattern) may be used, provided the robotic device 40 recognizes which signal to orient a particular side. Alternatively, the signals 62, 64 may be distinguished by using different wavelengths or by using different carrier frequencies (e.g., 380 kHz versus 38 kHz, etc.).
Thus, when the robotic device 40 wants or needs to dock, if the detector 50 receives the red signal 62 transmitting from the base station 10, it moves to keep the red signal 62 on the robot's right side; if it detects the green signal 64 transmitting from the base station 10, it moves to keep the green signal 64 on the robot's left side. Where the two signals overlap (the “yellow” zone 66), the robot 40 knows that the base station 10 is nearby and may then dock. Such a system may be optimized to make the yellow zone 66 as thin as practicably possible, to ensure proper orientation and approach of the robot 40 and successful docking. Alternatively, the red signal 62 and green signal 64 may be replaced by a single signal, which the robot 40 would follow until docked.
Various methods are contemplated for ensuring that the robot 40 correctly docks with base station 10. For example, the robot 40 can continue to move toward the base station 10 (within the yellow zone 66) until the bumper 48 is depressed, signaling the robot 40 that it has contacted the base station 10. Another embodiment overlaps the homing signals 62, 64 such that the yellow zone 66 terminates at a point calibrated such that the robot 40 will contact the charging contacts 16 upon reaching the termination point. Other embodiments simply stop the robot 40 when its electrical contacts touch the electrical contacts 16 on the base station 10. This would guarantee that the robot 40 is moving over the contacts 16, providing a wiping action that cleans the contacts 16 and improves the electrical integrity of the connection. This also enables the base station 10 to be lighter, since it does not have to resist the force necessary to depress the robot's bumper 48.
While this embodiment of the invention describes use of IR signals for both avoidance and homing, the system and method of the present invention can use other signals to accomplish the goals. Other types of waves may have drawbacks, however. For example, radio waves are more difficult and expensive to make directional, and visible light suffers from interference from many sources and may be distracting to users. Sound waves could also be used, but it is similarly difficult to make sound purely directional and such waves tend to scatter and reflect more.
Once the energy remaining drops below a predetermined high level, the robot 40 enters its medium energy level sequence 220. The robot 40 continues to vacuum and monitor its energy level 224, employing methods indicated in step 214 above. In the medium energy level 220, however, the robot 40 “passively seeks” 222 the base station 10. While passively seeking 222 the base station 10, the robot 40 does not alter its travel characteristics; rather, it continues about its normal behavioral mode until it fortuitously detects the avoidance signal 60 or a homing signal 62, 64, each of which may be followed until the robot 40 ultimately docks with the base station 10. In other words, if the robot detects the avoidance signal 60 while passively seeking 222, rather than avoiding the base station 10 as it normally would, it alters its travel characteristics until it detects the homing signals 62 or 64, thus allowing it to dock.
Alternatively, the robot 40 continues operating in this medium energy level subsequence 220 until it registers an energy level 224 below a predetermined low level. At this point, the robot 40 enters the low level subsequence 230, characterized by a change in operation and travel characteristics. To conserve energy, the robot 40 may discontinue powering all incidental systems, and operations, such as vacuuming, allowing it to conserve as much energy as possible for “actively searching” 232 for the base station 10. While actively searching 232, the robot 40 may alter its travel characteristics to increase its chances of finding the base station 10. It may discontinue behavioral modes such as those employing a spiral movement, which do not necessarily create a higher chance of locating the base station, in favor of more deliberate modes, such as wall-following. This deliberate seeking will continue until the robot 40 detects the presence of the base station 10, either by detecting the avoidance signal 60 or the homing signals 62, 64. Clearly, additional subsequences may be incorporated which sound alarms when the power remaining reaches a critical level, or which reconstruct the route the robot 40 has taken since last contacting the base station 10 to aid in relocating the station 10.
The robot 40 may also dock because it has determined that it has completed its assigned task (e.g., vacuuming a room). The robot 40 may make this determination based on a variety of factors, including considerations regarding room size, total run time, total distance traveled, dirt sensing, etc. Alternatively, the robot may employ room-mapping programs, using the base station 10 and/or walls and large objects as points of reference. Upon determining that it has completed its task, the robot 40 will alter its travel characteristics in order to find the base station 10 quickly.
Once the robot 40 contacts the base station 10, it can recharge itself autonomously. Circuitry within the base station 10 detects the presence of the robot 40 and then switches on the charging voltage to its contacts 16. The robot 40 then detects the presence of the charging voltage and then switches on its internal transistor power switch to allow current flow into the battery. In one embodiment, the base station 10 contains a constant-current type switching charger. Maximum current is limited to approximately 1.25 amps even under a short circuit condition. Maximum unloaded terminal voltage is limited to approximately 22 Vdc. This constant-current charging circuit is used to charge the battery in the robot 40 via the electrical connections provided by the contacts 16 on the base station 10 and those on the undercarriage 54 of the robot 40. One embodiment of this charging sequence is detailed below.
Generally, while the robot 40 is away from the base station 10, the charging contacts 16 will present five volts, limited to 1 mA maximum short circuit current flow. This low voltage/low current “sense” condition limits the amount of available energy at the contacts 16, thus rendering them safe in the event they are contacted by humans, animals, and electrically conductive objects. The contacts on the undercarriage 54 of the robot 40, when contacting the contacts 16 on the base station 10, present a precise resistive load that, along with a resistor in the base station 10, creates a high impedance voltage divider. A microprocessor that constantly monitors the voltage across the contacts 16 recognizes this lower voltage. This voltage divider creates a specific voltage, plus or minus a known tolerance. When the microprocessor determines that the voltage has fallen into the specific range, it detects that the robot 40 is present. The microprocessor then turns on a transistor switch that delivers a higher voltage/current charge (capable of charging the robot's internal battery) to the charging contacts 16. Alternatively, the robot 40 and/or base station 10 can verify the integrity of the charging circuit by sending signals through the IR beams, thereby confirming that the robot 40 has, in fact, docked.
At the onset of this higher voltage, the divider of R101 and R224 are such that the requirements are met to turn on Q48 and Q5 respectively. It is this combination of transistors that then allows current to flow to the on-board robot electronics only, allowing the robot's processor to become active if in fact it was inoperative due to a depleted battery.
Once operative, the robot's processor is then able to detect the presence of the base station voltage via R113 and D15 and if driving, turn off its drive motors. Once stable on the charging contacts, it becomes the job of the robot processor to measure the internal robot battery and decide when and what type of charging control cycle is needed when allowing current to flow into the battery. For example, if the battery is at 12 volts, then it is acceptable to turn on Q45 and Q47 via processor control, in order to allow current to flow through FET U9 to the battery on a continuous basis.
If, however, the battery voltage is deemed less than 5 volts, it generally would not be desirable to allow the full current to flow to the battery on a continuous basis. The reason this condition is of concern lies in the fact that the power source within the DOC is a constant current charger, which will adjust its output voltage to be slightly higher than the battery voltage in order to flow 1.25 A into the battery. In some cases, this might be millivolts higher than the battery voltage itself and in the case of the battery at low voltage, for example, 3 volts, would cause the output voltage to drop below the necessary 5 volt level needed to operate the on board base station and robot electronics suite.
In this case, the robot processor then delivers a pulse width modulation to the charger control line pertaining to Q47, such that the energy storage capacitors in both the robot and base station maintain enough charge to keep their respective electronics working properly throughout the charge pulse. The energy storage capacitors are then replenished during the off time of the pulse width modulation charging cycle, ready to then sustain the next charge pulse. This scenario continues until the battery has been charged to the point where a continuous charge is no longer able to bring the supply voltage down to a critical level and the charge control can become a static level.
Since this pulse width modulation process in this embodiment relies on software control, health monitoring of the processor, both within the base station and robot, are important. The requirement then set fourth for charging is for a charger “watchdog” be incorporated via Q45 such that a static high or low state on this signal line will disable current flow into the battery. It is a requirement of the robot processor to continuously pulse this control line in order for any current to flow, therefore eliminating most cases of processor latch up due to electrostatic discharge or other battery related events from mistreating the charging profile. Naturally, other control and related fail safe schemes could be utilized.
The described charging sequence provides particular safety features, even though the charging contacts 16 are exposed and energized. Because a specific resistance is required to create a specific voltage drop across the contacts 16 when the 5-volt sense voltage is present (i.e., when the robot 40 is not docked) there is no danger of electric shock due to accidental contact because the low sense current is harmless. Also, the base station 10 will never switch to the higher voltage/current level, because the sense current has not entered the predetermined range. When the base station 10 does determine that the robot 40 is present, it delivers the charging voltage/current. This charging current is limited to approximately 22 volts/1.25 amps maximum. Even if inadvertent contact occurred during delivery of the charging current—which is unlikely, since the robot chassis 44 effectively blocks the contacts 16—the voltage delivered would not present a serious shock hazard, as it is relatively low.
Another level of safety is afforded by the base station 10 checking for the robot 40 at regular intervals, from as little as once per minute to as much as 10 times per second or more. Thus, in the event that the robot 40 is dislodged from the base station 10 (either by an animal or human), the charging current could be shut down immediately. This same condition applies if the contacts 16 are short circuited with the robot 40 docked (either intentionally or accidentally, for example, if the robot 40 drags debris onto the charging contacts 16).
An additional safety feature of this charging sequence prevents overheating of contacts 16 due to intentional shorting or oxidation. A thermal circuit breaker or similar device can be employed to perform this task, as well as a microprocessor equipped with a temperature measuring subroutine. The circuit breaker, however, provides the advantage of controlling contact temperature in the event of a microprocessor or software failure. Additionally, the base station 10 circuitry can also incorporate a timer to reset the temperature measuring subroutine or circuit breaker in the event of system failure. These safety controls may be incorporated into the “watchdog” described above.
While docked with the base station 10, the robot 40 can also perform other maintenance or diagnostic checks. In certain embodiments, the robot 40 can completely recharge its power source or only partially charge it, based on various factors. For example, if the robot 40 determines, through the use of route-tracking subroutines, that only a small portion of the room still requires vacuuming, it may take only a minimal charge before returning to complete cleaning of the room. If, however, the robot 40 requires a full charge before returning to clean the room, that option is also available. If the robot 40 has completed its vacuuming of the room prior to docking, it may dock, fully recharge, and stand by to await a signal (either internal or external) to begin its next cleaning cycle. While in this stand-by mode, the robot 40 may continue to measure its energy levels and may begin charging sequences upon reaching an energy level below a predetermined amount. Alternatively, the robot 40 may maintain a constant or near-constant trickle charge to keep its energy levels at or near peak. Other behaviors while in the docking position such as diagnostic functions, internal mechanism cleaning, communication with a network, or data manipulation functions may also be performed.
While there have been described herein what are to be considered exemplary and preferred embodiments of the present invention, other modifications of the invention will become apparent to those skilled in the art from the teachings herein. The particular methods of manufacture and geometries disclosed herein are exemplary in nature and are not to be considered limiting. It is therefore desired to be secured in the appended claims all such modifications as fall within the spirit and scope of the invention. Accordingly, what is desired to be secured by Letters Patent is the invention as defined and differentiated in the following claims.
This application for U.S. Patent is a continuation of, and claims priority from, U.S. patent application Ser. No. 10/762,219 filed Jan. 21, 2004, entitled Autonomous robot auto-docking and energy management systems and methods, which is now pending.
Number | Name | Date | Kind |
---|---|---|---|
1755054 | Darst | Apr 1930 | A |
1780221 | Buchmann | Nov 1930 | A |
1970302 | Gerhardt | Aug 1934 | A |
2136324 | John | Nov 1938 | A |
2302111 | Dow et al. | Nov 1942 | A |
2353621 | Sav et al. | Jul 1944 | A |
2770825 | Pullen | Nov 1956 | A |
3119369 | Harland et al. | Jan 1964 | A |
3166138 | Dunn | Jan 1965 | A |
3333564 | Waters | Aug 1967 | A |
3375375 | Robert et al. | Mar 1968 | A |
3381652 | Schaefer et al. | May 1968 | A |
3457575 | Bienek | Jul 1969 | A |
3550714 | Bellinger | Dec 1970 | A |
3569727 | Aggarwal et al. | Mar 1971 | A |
3674316 | De Brey | Jul 1972 | A |
3678882 | Kinsella | Jul 1972 | A |
3744586 | Leinauer | Jul 1973 | A |
3756667 | Bombardier et al. | Sep 1973 | A |
3809004 | Leonheart | May 1974 | A |
3816004 | Bignardi | Jun 1974 | A |
3845831 | James | Nov 1974 | A |
RE28268 | Autrand | Dec 1974 | E |
3853086 | Asplund | Dec 1974 | A |
3863285 | Hukuba | Feb 1975 | A |
3888181 | Kups | Jun 1975 | A |
3937174 | Haaga | Feb 1976 | A |
3952361 | Wilkins | Apr 1976 | A |
3989311 | De Brey | Nov 1976 | A |
3989931 | Phillips | Nov 1976 | A |
4004313 | Capra | Jan 1977 | A |
4012681 | Finger et al. | Mar 1977 | A |
4070170 | Leinfelt | Jan 1978 | A |
4099284 | Shinozaki et al. | Jul 1978 | A |
4119900 | Kremnitz | Oct 1978 | A |
4175589 | Nakamura et al. | Nov 1979 | A |
4175892 | De Brey | Nov 1979 | A |
4196727 | Verkaart et al. | Apr 1980 | A |
4198727 | Farmer | Apr 1980 | A |
4199838 | Simonsson | Apr 1980 | A |
4209254 | Reymond et al. | Jun 1980 | A |
D258901 | Keyworth | Apr 1981 | S |
4297578 | Carter | Oct 1981 | A |
4306329 | Yokoi | Dec 1981 | A |
4309758 | Halsall et al. | Jan 1982 | A |
4328545 | Halsall et al. | May 1982 | A |
4367403 | Miller | Jan 1983 | A |
4369543 | Chen et al. | Jan 1983 | A |
4401909 | Gorsek | Aug 1983 | A |
4416033 | Specht | Nov 1983 | A |
4445245 | Lu | May 1984 | A |
4465370 | Yuasa et al. | Aug 1984 | A |
4477998 | You | Oct 1984 | A |
4481692 | Kurz | Nov 1984 | A |
4482960 | Pryor | Nov 1984 | A |
4492058 | Goldfarb et al. | Jan 1985 | A |
4513469 | Godfrey et al. | Apr 1985 | A |
D278732 | Ohkado | May 1985 | S |
4518437 | Sommer | May 1985 | A |
4534637 | Suzuki et al. | Aug 1985 | A |
4556313 | Miller et al. | Dec 1985 | A |
4575211 | Matsumura et al. | Mar 1986 | A |
4580311 | Kurz | Apr 1986 | A |
4601082 | Kurz | Jul 1986 | A |
4618213 | Chen | Oct 1986 | A |
4620285 | Perdue | Oct 1986 | A |
4624026 | Olson et al. | Nov 1986 | A |
4626995 | Lofgren et al. | Dec 1986 | A |
4628454 | Ito | Dec 1986 | A |
4638445 | Mattaboni | Jan 1987 | A |
4644156 | Takahashi et al. | Feb 1987 | A |
4649504 | Krouglicof et al. | Mar 1987 | A |
4652917 | Miller | Mar 1987 | A |
4654492 | Koerner et al. | Mar 1987 | A |
4654924 | Getz et al. | Apr 1987 | A |
4660969 | Sorimachi et al. | Apr 1987 | A |
4662854 | Fang | May 1987 | A |
4674048 | Okumura | Jun 1987 | A |
4679152 | Perdue | Jul 1987 | A |
4680827 | Hummel | Jul 1987 | A |
4696074 | Cavalli et al. | Sep 1987 | A |
D292223 | Trumbull | Oct 1987 | S |
4700301 | Dyke | Oct 1987 | A |
4700427 | Knepper | Oct 1987 | A |
4703820 | Reinaud | Nov 1987 | A |
4710020 | Maddox et al. | Dec 1987 | A |
4716621 | Zoni | Jan 1988 | A |
4728801 | O'Connor | Mar 1988 | A |
4733343 | Yoneda et al. | Mar 1988 | A |
4733430 | Westergren | Mar 1988 | A |
4733431 | Martin | Mar 1988 | A |
4735136 | Lee et al. | Apr 1988 | A |
4735138 | Gawler et al. | Apr 1988 | A |
4748336 | Fujie et al. | May 1988 | A |
4748833 | Nagasawa | Jun 1988 | A |
4756049 | Uehara | Jul 1988 | A |
4767213 | Hummel | Aug 1988 | A |
4769700 | Pryor | Sep 1988 | A |
4777416 | George et al. | Oct 1988 | A |
D298766 | Tanno et al. | Nov 1988 | S |
4782550 | Jacobs | Nov 1988 | A |
4796198 | Boultinghouse et al. | Jan 1989 | A |
4806751 | Abe et al. | Feb 1989 | A |
4811228 | Hyyppa | Mar 1989 | A |
4813906 | Matsuyama et al. | Mar 1989 | A |
4815157 | Tsuchiya | Mar 1989 | A |
4817000 | Eberhardt | Mar 1989 | A |
4818875 | Weiner | Apr 1989 | A |
4829442 | Kadonoff et al. | May 1989 | A |
4829626 | Harkonen et al. | May 1989 | A |
4832098 | Palinkas et al. | May 1989 | A |
4851661 | Everett | Jul 1989 | A |
4854000 | Takimoto | Aug 1989 | A |
4854006 | Nishimura et al. | Aug 1989 | A |
4855915 | Dallaire | Aug 1989 | A |
4857912 | Everett et al. | Aug 1989 | A |
4858132 | Holmquist et al. | Aug 1989 | A |
4867570 | Sorimachi et al. | Sep 1989 | A |
4880474 | Koharagi et al. | Nov 1989 | A |
4887415 | Martin | Dec 1989 | A |
4891762 | Chotiros | Jan 1990 | A |
4893025 | Lee | Jan 1990 | A |
4901394 | Nakamura et al. | Feb 1990 | A |
4905151 | Weiman et al. | Feb 1990 | A |
4912643 | Beirne | Mar 1990 | A |
4918441 | Bohman | Apr 1990 | A |
4919224 | Shyu et al. | Apr 1990 | A |
4919489 | Kopsco | Apr 1990 | A |
4920060 | Parrent et al. | Apr 1990 | A |
4920605 | Takashima | May 1990 | A |
4933864 | Evans et al. | Jun 1990 | A |
4937912 | Kurz | Jul 1990 | A |
4953253 | Fukuda et al. | Sep 1990 | A |
4954962 | Evans et al. | Sep 1990 | A |
4955714 | Stotler et al. | Sep 1990 | A |
4956891 | Wulff | Sep 1990 | A |
4961303 | McCarty et al. | Oct 1990 | A |
4961304 | Ovsborn et al. | Oct 1990 | A |
4962453 | Pong et al. | Oct 1990 | A |
4971591 | Raviv et al. | Nov 1990 | A |
4973912 | Kaminski et al. | Nov 1990 | A |
4974283 | Holsten et al. | Dec 1990 | A |
4977618 | Allen | Dec 1990 | A |
4977639 | Takahashi et al. | Dec 1990 | A |
4986663 | Cecchi et al. | Jan 1991 | A |
5001635 | Yasutomi et al. | Mar 1991 | A |
5002145 | Waqkaumi et al. | Mar 1991 | A |
5012886 | Jonas et al. | May 1991 | A |
5018240 | Holman | May 1991 | A |
5020186 | Lessig et al. | Jun 1991 | A |
5022812 | Coughlan et al. | Jun 1991 | A |
5023788 | Kitazume et al. | Jun 1991 | A |
5024529 | Svetkoff et al. | Jun 1991 | A |
D318500 | Malewicki et al. | Jul 1991 | S |
5032775 | Mizuno et al. | Jul 1991 | A |
5033151 | Kraft et al. | Jul 1991 | A |
5033291 | Podoloff et al. | Jul 1991 | A |
5040116 | Evans et al. | Aug 1991 | A |
5045769 | Everett, Jr. | Sep 1991 | A |
5049802 | Mintus et al. | Sep 1991 | A |
5051906 | Evans et al. | Sep 1991 | A |
5062819 | Mallory | Nov 1991 | A |
5070567 | Holland | Dec 1991 | A |
5084934 | Lessig et al. | Feb 1992 | A |
5086535 | Grossmeyer et al. | Feb 1992 | A |
5090321 | Abouav | Feb 1992 | A |
5093955 | Blehert et al. | Mar 1992 | A |
5094311 | Akeel | Mar 1992 | A |
5105502 | Takashima | Apr 1992 | A |
5105550 | Shenoha | Apr 1992 | A |
5109566 | Kobayashi et al. | May 1992 | A |
5115538 | Cochran et al. | May 1992 | A |
5127128 | Lee | Jul 1992 | A |
5136675 | Hodson | Aug 1992 | A |
5136750 | Takashima et al. | Aug 1992 | A |
5142985 | Stearns et al. | Sep 1992 | A |
5144471 | Takanashi et al. | Sep 1992 | A |
5144714 | Mori et al. | Sep 1992 | A |
5144715 | Matsuyo et al. | Sep 1992 | A |
5152028 | Hirano | Oct 1992 | A |
5152202 | Strauss | Oct 1992 | A |
5155684 | Burke et al. | Oct 1992 | A |
5163202 | Kawakami et al. | Nov 1992 | A |
5163320 | Goshima et al. | Nov 1992 | A |
5164579 | Pryor et al. | Nov 1992 | A |
5165064 | Mattaboni | Nov 1992 | A |
5170352 | McTamaney et al. | Dec 1992 | A |
5173881 | Sindle | Dec 1992 | A |
5182833 | Yamaguhi et al. | Feb 1993 | A |
5202742 | Frank et al. | Apr 1993 | A |
5204814 | Noonan et al. | Apr 1993 | A |
5206500 | Decker et al. | Apr 1993 | A |
5208521 | Aoyama | May 1993 | A |
5216777 | Moro et al. | Jun 1993 | A |
5227985 | DeMenthon | Jul 1993 | A |
5233682 | Abe et al. | Aug 1993 | A |
5239720 | Wood et al. | Aug 1993 | A |
5251358 | Moro et al. | Oct 1993 | A |
5261139 | Lewis | Nov 1993 | A |
5276618 | Everett | Jan 1994 | A |
5276939 | Uenishi | Jan 1994 | A |
5277064 | Knigga et al. | Jan 1994 | A |
5279672 | Belker, Jr. et al. | Jan 1994 | A |
5284452 | Corona | Feb 1994 | A |
5284522 | Kobayashi et al. | Feb 1994 | A |
5293955 | Lee | Mar 1994 | A |
D345707 | Alister | Apr 1994 | S |
5303448 | Hennessey et al. | Apr 1994 | A |
5307273 | Oh et al. | Apr 1994 | A |
5309592 | Hiratsuka | May 1994 | A |
5310379 | Hippely et al. | May 1994 | A |
5315227 | Pierson et al. | May 1994 | A |
5319827 | Yang | Jun 1994 | A |
5319828 | Waldhauser et al. | Jun 1994 | A |
5321614 | Ashworth | Jun 1994 | A |
5323483 | Baeg | Jun 1994 | A |
5324948 | Dudar et al. | Jun 1994 | A |
5341186 | Kato | Aug 1994 | A |
5341540 | Soupert et al. | Aug 1994 | A |
5341549 | Wirtz et al. | Aug 1994 | A |
5345649 | Whitlow | Sep 1994 | A |
5353224 | Lee et al. | Oct 1994 | A |
5363305 | Cox et al. | Nov 1994 | A |
5363935 | Schempf et al. | Nov 1994 | A |
5369347 | Yoo | Nov 1994 | A |
5369838 | Wood et al. | Dec 1994 | A |
5386862 | Glover et al. | Feb 1995 | A |
5399951 | Lavallee et al. | Mar 1995 | A |
5400244 | Watanabe et al. | Mar 1995 | A |
5404612 | Ishikawa | Apr 1995 | A |
5410479 | Coker | Apr 1995 | A |
5435405 | Schempf et al. | Jul 1995 | A |
5440216 | Kim | Aug 1995 | A |
5442358 | Keeler et al. | Aug 1995 | A |
5444965 | Colens | Aug 1995 | A |
5446356 | Kim | Aug 1995 | A |
5446445 | Bloomfield et al. | Aug 1995 | A |
5451135 | Schempf et al. | Sep 1995 | A |
5454129 | Kell | Oct 1995 | A |
5455982 | Armstrong et al. | Oct 1995 | A |
5465525 | Mifune et al. | Nov 1995 | A |
5465619 | Sotack et al. | Nov 1995 | A |
5467273 | Faibish et al. | Nov 1995 | A |
5471560 | Allard et al. | Nov 1995 | A |
5491670 | Weber | Feb 1996 | A |
5497529 | Boesi | Mar 1996 | A |
5498948 | Bruni et al. | Mar 1996 | A |
5502638 | Takenaka | Mar 1996 | A |
5505072 | Oreper | Apr 1996 | A |
5507067 | Hoekstra et al. | Apr 1996 | A |
5510893 | Suzuki | Apr 1996 | A |
5511147 | Abdel | Apr 1996 | A |
5515572 | Hoekstra et al. | May 1996 | A |
5534762 | Kim | Jul 1996 | A |
5537017 | Feiten et al. | Jul 1996 | A |
5537711 | Tseng | Jul 1996 | A |
5539953 | Kurz | Jul 1996 | A |
5542146 | Hoekstra et al. | Aug 1996 | A |
5542148 | Young | Aug 1996 | A |
5546631 | Chambon | Aug 1996 | A |
5548511 | Bancroft | Aug 1996 | A |
5551525 | Pack et al. | Sep 1996 | A |
5553349 | Kilstrom et al. | Sep 1996 | A |
5555587 | Guha | Sep 1996 | A |
5560077 | Crotchett | Oct 1996 | A |
5568589 | Hwang | Oct 1996 | A |
D375592 | Ljunggren | Nov 1996 | S |
5608306 | Rybeck et al. | Mar 1997 | A |
5608894 | Kawakami et al. | Mar 1997 | A |
5608944 | Gordon | Mar 1997 | A |
5610488 | Miyazawa | Mar 1997 | A |
5611106 | Wulff | Mar 1997 | A |
5611108 | Knowlton et al. | Mar 1997 | A |
5613261 | Kawakami et al. | Mar 1997 | A |
5613269 | Miwa | Mar 1997 | A |
5621291 | Lee | Apr 1997 | A |
5622236 | Azumi et al. | Apr 1997 | A |
5634237 | Paranjpe | Jun 1997 | A |
5634239 | Tuvin et al. | Jun 1997 | A |
5636402 | Kubo et al. | Jun 1997 | A |
5642299 | Hardin et al. | Jun 1997 | A |
5646494 | Han | Jul 1997 | A |
5647554 | Ikegami et al. | Jul 1997 | A |
5650702 | Azumi | Jul 1997 | A |
5652489 | Kawakmai | Jul 1997 | A |
5682313 | Edlund et al. | Oct 1997 | A |
5682839 | Grimsley et al. | Nov 1997 | A |
5696675 | Nakamura et al. | Dec 1997 | A |
5698861 | Oh | Dec 1997 | A |
5709007 | Chiang | Jan 1998 | A |
5710506 | Broell et al. | Jan 1998 | A |
5714119 | Kawagoe et al. | Feb 1998 | A |
5717169 | Liang et al. | Feb 1998 | A |
5717484 | Hamaguchi et al. | Feb 1998 | A |
5720077 | Nakamura et al. | Feb 1998 | A |
5732401 | Conway | Mar 1998 | A |
5735959 | Kubo et al. | Apr 1998 | A |
5745235 | Vercammen et al. | Apr 1998 | A |
5752871 | Tsuzuki | May 1998 | A |
5756904 | Oreper et al. | May 1998 | A |
5761762 | Kubo | Jun 1998 | A |
5764888 | Bolan et al. | Jun 1998 | A |
5767437 | Rogers | Jun 1998 | A |
5767960 | Orman | Jun 1998 | A |
5777596 | Herbert | Jul 1998 | A |
5778486 | Kim | Jul 1998 | A |
5781697 | Jeong | Jul 1998 | A |
5781960 | Kilstrom et al. | Jul 1998 | A |
5786602 | Pryor et al. | Jul 1998 | A |
5787545 | Colens | Aug 1998 | A |
5793900 | Nourbakhsh et al. | Aug 1998 | A |
5794297 | Muta | Aug 1998 | A |
5812267 | Everett, Jr. et al. | Sep 1998 | A |
5814808 | Takada et al. | Sep 1998 | A |
5815880 | Nakanishi | Oct 1998 | A |
5815884 | Imamura et al. | Oct 1998 | A |
5819008 | Asama et al. | Oct 1998 | A |
5819360 | Fujii | Oct 1998 | A |
5819936 | Saveliev et al. | Oct 1998 | A |
5820821 | Kawagoe et al. | Oct 1998 | A |
5821730 | Drapkin | Oct 1998 | A |
5825981 | Matsuda | Oct 1998 | A |
5828770 | Leis et al. | Oct 1998 | A |
5831597 | West et al. | Nov 1998 | A |
5839156 | Park et al. | Nov 1998 | A |
5839532 | Yoshiji et al. | Nov 1998 | A |
5841259 | Kim et al. | Nov 1998 | A |
5867800 | Leif | Feb 1999 | A |
5869910 | Colens | Feb 1999 | A |
5896611 | Haaga | Apr 1999 | A |
5903124 | Kawakami | May 1999 | A |
5905209 | Oreper | May 1999 | A |
5907886 | Buscher | Jun 1999 | A |
5910700 | Crotzer | Jun 1999 | A |
5911260 | Suzuki | Jun 1999 | A |
5916008 | Wong | Jun 1999 | A |
5924167 | Wright et al. | Jul 1999 | A |
5926909 | McGee | Jul 1999 | A |
5933102 | Miller et al. | Aug 1999 | A |
5933913 | Wright et al. | Aug 1999 | A |
5935179 | Kleiner et al. | Aug 1999 | A |
5940346 | Sadowsky et al. | Aug 1999 | A |
5940927 | Haegermarck et al. | Aug 1999 | A |
5940930 | Oh et al. | Aug 1999 | A |
5942869 | Katou et al. | Aug 1999 | A |
5943730 | Boomgaarden | Aug 1999 | A |
5943733 | Tagliaferri | Aug 1999 | A |
5947225 | Kawakami et al. | Sep 1999 | A |
5950408 | Schaedler | Sep 1999 | A |
5959423 | Nakanishi et al. | Sep 1999 | A |
5968281 | Wright et al. | Oct 1999 | A |
5974348 | Rocks | Oct 1999 | A |
5974365 | Mitchell | Oct 1999 | A |
5983448 | Wright et al. | Nov 1999 | A |
5984880 | Lander et al. | Nov 1999 | A |
5987383 | Keller et al. | Nov 1999 | A |
5989700 | Krivopal | Nov 1999 | A |
5991951 | Kubo et al. | Nov 1999 | A |
5995883 | Nishikado | Nov 1999 | A |
5995884 | Allen et al. | Nov 1999 | A |
5996167 | Close | Dec 1999 | A |
5998953 | Nakamura et al. | Dec 1999 | A |
5998971 | Corbridge | Dec 1999 | A |
6000088 | Wright et al. | Dec 1999 | A |
6009358 | Angott et al. | Dec 1999 | A |
6021545 | Delgado et al. | Feb 2000 | A |
6023813 | Thatcher et al. | Feb 2000 | A |
6023814 | Imamura | Feb 2000 | A |
6025687 | Himeda et al. | Feb 2000 | A |
6026539 | Mouw et al. | Feb 2000 | A |
6030464 | Azevedo | Feb 2000 | A |
6030465 | Marcussen et al. | Feb 2000 | A |
6032542 | Warnick et al. | Mar 2000 | A |
6036572 | Sze | Mar 2000 | A |
6038501 | Kawakami | Mar 2000 | A |
6040669 | Hog | Mar 2000 | A |
6041471 | Charkey et al. | Mar 2000 | A |
6041472 | Kasen et al. | Mar 2000 | A |
6046800 | Ohtomo et al. | Apr 2000 | A |
6049620 | Dickinson et al. | Apr 2000 | A |
6052821 | Chouly et al. | Apr 2000 | A |
6055042 | Sarangapani | Apr 2000 | A |
6055702 | Imamura et al. | May 2000 | A |
6061868 | Moritsch et al. | May 2000 | A |
6065182 | Wright et al. | May 2000 | A |
6073432 | Schaedler | Jun 2000 | A |
6076025 | Ueno et al. | Jun 2000 | A |
6076026 | Jambhekar et al. | Jun 2000 | A |
6076226 | Reed | Jun 2000 | A |
6076227 | Schallig et al. | Jun 2000 | A |
6081257 | Zeller | Jun 2000 | A |
6088020 | Mor | Jul 2000 | A |
6094775 | Behmer | Aug 2000 | A |
6099091 | Campbell | Aug 2000 | A |
6101671 | Wright et al. | Aug 2000 | A |
6108031 | King et al. | Aug 2000 | A |
6108067 | Okamoto | Aug 2000 | A |
6108076 | Hanseder | Aug 2000 | A |
6108269 | Kabel | Aug 2000 | A |
6108597 | Kirchner et al. | Aug 2000 | A |
6112143 | Allen et al. | Aug 2000 | A |
6112996 | Matsuo | Sep 2000 | A |
6119057 | Kawagoe | Sep 2000 | A |
6122798 | Kobayashi et al. | Sep 2000 | A |
6124694 | Bancroft et al. | Sep 2000 | A |
6125498 | Roberts et al. | Oct 2000 | A |
6131237 | Kasper et al. | Oct 2000 | A |
6138063 | Himeda | Oct 2000 | A |
6142252 | Kinto et al. | Nov 2000 | A |
6146278 | Kobayashi | Nov 2000 | A |
6154279 | Thayer | Nov 2000 | A |
6154694 | Aoki et al. | Nov 2000 | A |
6167332 | Kurtzberg et al. | Dec 2000 | A |
6167587 | Kasper et al. | Jan 2001 | B1 |
6192548 | Huffman | Feb 2001 | B1 |
6216307 | Kaleta et al. | Apr 2001 | B1 |
6220865 | Macri et al. | Apr 2001 | B1 |
6226830 | Hendriks et al. | May 2001 | B1 |
6230362 | Kasper et al. | May 2001 | B1 |
6237741 | Guidetti | May 2001 | B1 |
6240342 | Fiegert et al. | May 2001 | B1 |
6243913 | Frank et al. | Jun 2001 | B1 |
6255793 | Peless et al. | Jul 2001 | B1 |
6259979 | Holmquist | Jul 2001 | B1 |
6261379 | Conrad et al. | Jul 2001 | B1 |
6263539 | Baig | Jul 2001 | B1 |
6263989 | Won | Jul 2001 | B1 |
6272936 | Oreper et al. | Aug 2001 | B1 |
6276478 | Hopkins et al. | Aug 2001 | B1 |
6278918 | Dickson et al. | Aug 2001 | B1 |
6282526 | Ganesh | Aug 2001 | B1 |
6283034 | Miles | Sep 2001 | B1 |
6285778 | Nakajima et al. | Sep 2001 | B1 |
6285930 | Dickson et al. | Sep 2001 | B1 |
6300737 | Bergvall et al. | Oct 2001 | B1 |
6321337 | Reshef et al. | Nov 2001 | B1 |
6321515 | Colens | Nov 2001 | B1 |
6323570 | Nishimura et al. | Nov 2001 | B1 |
6324714 | Walz et al. | Dec 2001 | B1 |
6327741 | Reed | Dec 2001 | B1 |
6332400 | Meyer | Dec 2001 | B1 |
6339735 | Peless et al. | Jan 2002 | B1 |
6362875 | Burkley | Mar 2002 | B1 |
6370453 | Sommer | Apr 2002 | B2 |
6374155 | Wallach et al. | Apr 2002 | B1 |
6374157 | Takamura | Apr 2002 | B1 |
6381802 | Park | May 2002 | B2 |
6385515 | Dickson et al. | May 2002 | B1 |
6388013 | Saraf et al. | May 2002 | B1 |
6389329 | Colens | May 2002 | B1 |
6400048 | Nishimura et al. | Jun 2002 | B1 |
6401294 | Kasper | Jun 2002 | B2 |
6408226 | Byrne et al. | Jun 2002 | B1 |
6412141 | Kasper et al. | Jul 2002 | B2 |
6415203 | Inoue et al. | Jul 2002 | B1 |
6421870 | Basham et al. | Jul 2002 | B1 |
6427285 | Leggatt et al. | Aug 2002 | B1 |
6430471 | Kintou et al. | Aug 2002 | B1 |
6431296 | Won | Aug 2002 | B1 |
6437227 | Theimer | Aug 2002 | B1 |
6437465 | Nishimura et al. | Aug 2002 | B1 |
6438456 | Feddema et al. | Aug 2002 | B1 |
6438793 | Miner et al. | Aug 2002 | B1 |
6442476 | Poropat | Aug 2002 | B1 |
6443509 | Levin et al. | Sep 2002 | B1 |
6444003 | Sutcliffe | Sep 2002 | B1 |
6446302 | Kasper et al. | Sep 2002 | B1 |
6454036 | Airey et al. | Sep 2002 | B1 |
D464091 | Christianson | Oct 2002 | S |
6457206 | Judson | Oct 2002 | B1 |
6459955 | Bartsch et al. | Oct 2002 | B1 |
6463368 | Feiten et al. | Oct 2002 | B1 |
6465982 | Bergvall et al. | Oct 2002 | B1 |
6473167 | Odell | Oct 2002 | B1 |
6480762 | Uchikubo et al. | Nov 2002 | B1 |
6481515 | Kirkpatrick et al. | Nov 2002 | B1 |
6490539 | Dickson et al. | Dec 2002 | B1 |
6491127 | Holmberg et al. | Dec 2002 | B1 |
6493612 | Bisset et al. | Dec 2002 | B1 |
6493613 | Peless et al. | Dec 2002 | B2 |
6496754 | Song et al. | Dec 2002 | B2 |
6496755 | Wallach et al. | Dec 2002 | B2 |
6502657 | Kerrebrock et al. | Jan 2003 | B2 |
6504610 | Bauer et al. | Jan 2003 | B1 |
6507773 | Parker et al. | Jan 2003 | B2 |
6525509 | Petersson et al. | Feb 2003 | B1 |
D471243 | Cioffi et al. | Mar 2003 | S |
6532404 | Colens | Mar 2003 | B2 |
6535793 | Allard | Mar 2003 | B2 |
6540607 | Mokris et al. | Apr 2003 | B2 |
6548982 | Papanikolopoulos et al. | Apr 2003 | B1 |
6553612 | Dyson et al. | Apr 2003 | B1 |
6556722 | Russell et al. | Apr 2003 | B1 |
6556892 | Kuroki et al. | Apr 2003 | B2 |
6557104 | Vu et al. | Apr 2003 | B2 |
D474312 | Stephens et al. | May 2003 | S |
6563130 | Dworkowski et al. | May 2003 | B2 |
6571415 | Gerber et al. | Jun 2003 | B2 |
6571422 | Gordon et al. | Jun 2003 | B1 |
6572711 | Sclafani et al. | Jun 2003 | B2 |
6574536 | Kawagoe et al. | Jun 2003 | B1 |
6580246 | Jacobs | Jun 2003 | B2 |
6584376 | Kommer | Jun 2003 | B1 |
6586908 | Petersson et al. | Jul 2003 | B2 |
6587573 | Stam et al. | Jul 2003 | B1 |
6590222 | Bisset et al. | Jul 2003 | B1 |
6594551 | McKinney, Jr. et al. | Jul 2003 | B2 |
6594844 | Jones | Jul 2003 | B2 |
D478884 | Slipy et al. | Aug 2003 | S |
6601265 | Burlington | Aug 2003 | B1 |
6604021 | Imai et al. | Aug 2003 | B2 |
6604022 | Parker et al. | Aug 2003 | B2 |
6605156 | Clark et al. | Aug 2003 | B1 |
6611120 | Song et al. | Aug 2003 | B2 |
6611734 | Parker et al. | Aug 2003 | B2 |
6611738 | Ruffner | Aug 2003 | B2 |
6615108 | Peless et al. | Sep 2003 | B1 |
6615885 | Ohm | Sep 2003 | B1 |
6622465 | Jerome et al. | Sep 2003 | B2 |
6624744 | Wilson et al. | Sep 2003 | B1 |
6625843 | Kim et al. | Sep 2003 | B2 |
6629028 | Paromtchik et al. | Sep 2003 | B2 |
6639659 | Granger | Oct 2003 | B2 |
6658325 | Zweig | Dec 2003 | B2 |
6658354 | Lin | Dec 2003 | B2 |
6658692 | Lenkiewicz et al. | Dec 2003 | B2 |
6658693 | Reed, Jr. | Dec 2003 | B1 |
6661239 | Ozick | Dec 2003 | B1 |
6662889 | De Fazio et al. | Dec 2003 | B2 |
6668951 | Won | Dec 2003 | B2 |
6670817 | Fournier et al. | Dec 2003 | B2 |
6671592 | Bisset et al. | Dec 2003 | B1 |
6687571 | Byrne et al. | Feb 2004 | B1 |
6690134 | Jones et al. | Feb 2004 | B1 |
6690993 | Foulke et al. | Feb 2004 | B2 |
6697147 | Ko et al. | Feb 2004 | B2 |
6711280 | Stafsudd et al. | Mar 2004 | B2 |
6732826 | Song et al. | May 2004 | B2 |
6737591 | Lapstun et al. | May 2004 | B1 |
6741054 | Koselka et al. | May 2004 | B2 |
6741364 | Lange et al. | May 2004 | B2 |
6748297 | Song et al. | Jun 2004 | B2 |
6756703 | Chang | Jun 2004 | B2 |
6760647 | Nourbakhsh et al. | Jul 2004 | B2 |
6764373 | Osawa et al. | Jul 2004 | B1 |
6769004 | Barrett | Jul 2004 | B2 |
6774596 | Bisset | Aug 2004 | B1 |
6779380 | Nieuwkamp | Aug 2004 | B1 |
6781338 | Jones et al. | Aug 2004 | B2 |
6809490 | Jones et al. | Oct 2004 | B2 |
6810305 | Kirkpatrick | Oct 2004 | B2 |
6830120 | Yashima et al. | Dec 2004 | B1 |
6832407 | Salem et al. | Dec 2004 | B2 |
6836701 | McKee | Dec 2004 | B2 |
6841963 | Song et al. | Jan 2005 | B2 |
6845297 | Allard | Jan 2005 | B2 |
6856811 | Burdue et al. | Feb 2005 | B2 |
6859010 | Jeon et al. | Feb 2005 | B2 |
6859682 | Naka et al. | Feb 2005 | B2 |
6860206 | Rudakevych et al. | Mar 2005 | B1 |
6865447 | Lau et al. | Mar 2005 | B2 |
6870792 | Chiappetta | Mar 2005 | B2 |
6871115 | Huang et al. | Mar 2005 | B2 |
6883201 | Jones et al. | Apr 2005 | B2 |
6886651 | Slocum et al. | May 2005 | B1 |
6888333 | Laby | May 2005 | B2 |
6901624 | Mori et al. | Jun 2005 | B2 |
6906702 | Tanaka et al. | Jun 2005 | B1 |
6914403 | Tsurumi | Jul 2005 | B2 |
6917854 | Bayer | Jul 2005 | B2 |
6925679 | Wallach et al. | Aug 2005 | B2 |
6929548 | Wang | Aug 2005 | B2 |
D510066 | Hickey et al. | Sep 2005 | S |
6938298 | Aasen | Sep 2005 | B2 |
6940291 | Ozick | Sep 2005 | B1 |
6941199 | Bottomley et al. | Sep 2005 | B1 |
6956348 | Landry et al. | Oct 2005 | B2 |
6957712 | Song et al. | Oct 2005 | B2 |
6960986 | Asama et al. | Nov 2005 | B2 |
6965209 | Jones et al. | Nov 2005 | B2 |
6965211 | Tsurumi | Nov 2005 | B2 |
6968592 | Takeuchi et al. | Nov 2005 | B2 |
6971140 | Kim | Dec 2005 | B2 |
6975246 | Trudeau | Dec 2005 | B1 |
6980229 | Ebersole | Dec 2005 | B1 |
6985556 | Shanmugavel et al. | Jan 2006 | B2 |
6993954 | George et al. | Feb 2006 | B1 |
6999850 | McDonald | Feb 2006 | B2 |
7013527 | Thomas et al. | Mar 2006 | B2 |
7024278 | Chiappetta et al. | Apr 2006 | B2 |
7024280 | Parker et al. | Apr 2006 | B2 |
7027893 | Perry et al. | Apr 2006 | B2 |
7030768 | Wanie | Apr 2006 | B2 |
7031805 | Lee et al. | Apr 2006 | B2 |
7032469 | Bailey | Apr 2006 | B2 |
7053578 | Diehl et al. | May 2006 | B2 |
7054716 | McKee et al. | May 2006 | B2 |
7055210 | Keppler et al. | Jun 2006 | B2 |
7057120 | Ma et al. | Jun 2006 | B2 |
7057643 | Iida et al. | Jun 2006 | B2 |
7065430 | Naka et al. | Jun 2006 | B2 |
7066291 | Martins et al. | Jun 2006 | B2 |
7069124 | Whittaker et al. | Jun 2006 | B1 |
7079923 | Abramson et al. | Jul 2006 | B2 |
7085623 | Siegers | Aug 2006 | B2 |
7085624 | Aldred et al. | Aug 2006 | B2 |
7113847 | Chmura et al. | Sep 2006 | B2 |
7133746 | Abramson et al. | Nov 2006 | B2 |
7142198 | Lee | Nov 2006 | B2 |
7148458 | Schell et al. | Dec 2006 | B2 |
7155308 | Jones | Dec 2006 | B2 |
7167775 | Abramson et al. | Jan 2007 | B2 |
7171285 | Kim et al. | Jan 2007 | B2 |
7173391 | Jones et al. | Feb 2007 | B2 |
7174238 | Zweig | Feb 2007 | B1 |
7188000 | Chiappetta et al. | Mar 2007 | B2 |
7193384 | Norman et al. | Mar 2007 | B1 |
7196487 | Jones et al. | Mar 2007 | B2 |
7201786 | Wegelin et al. | Apr 2007 | B2 |
7206677 | Hulden | Apr 2007 | B2 |
7211980 | Bruemmer et al. | May 2007 | B1 |
7225500 | Diehl et al. | Jun 2007 | B2 |
7246405 | Yan | Jul 2007 | B2 |
7248951 | Hulden | Jul 2007 | B2 |
7275280 | Haegermarck et al. | Oct 2007 | B2 |
7283892 | Boillot et al. | Oct 2007 | B1 |
7288912 | Landry et al. | Oct 2007 | B2 |
7318248 | Yan | Jan 2008 | B1 |
7320149 | Huffman et al. | Jan 2008 | B1 |
7324870 | Lee | Jan 2008 | B2 |
7328196 | Peters | Feb 2008 | B2 |
7332890 | Cohen et al. | Feb 2008 | B2 |
7352153 | Yan | Apr 2008 | B2 |
7359766 | Jeon et al. | Apr 2008 | B2 |
7360277 | Moshenrose et al. | Apr 2008 | B2 |
7363108 | Noda et al. | Apr 2008 | B2 |
7388879 | Sabe et al. | Jun 2008 | B2 |
7389166 | Harwig et al. | Jun 2008 | B2 |
7408157 | Yan | Aug 2008 | B2 |
7418762 | Arai et al. | Sep 2008 | B2 |
7430455 | Casey et al. | Sep 2008 | B2 |
7430462 | Chiu et al. | Sep 2008 | B2 |
7441298 | Svendsen et al. | Oct 2008 | B2 |
7444206 | Abramson et al. | Oct 2008 | B2 |
7448113 | Jones et al. | Nov 2008 | B2 |
7459871 | Landry et al. | Dec 2008 | B2 |
7467026 | Sakagami et al. | Dec 2008 | B2 |
7474941 | Kim et al. | Jan 2009 | B2 |
7503096 | Lin | Mar 2009 | B2 |
7515991 | Egawa et al. | Apr 2009 | B2 |
7555363 | Augenbraun et al. | Jun 2009 | B2 |
7557703 | Yamada et al. | Jul 2009 | B2 |
7568259 | Yan | Aug 2009 | B2 |
7571511 | Jones et al. | Aug 2009 | B2 |
7578020 | Jaworski et al. | Aug 2009 | B2 |
7600521 | Woo | Oct 2009 | B2 |
7603744 | Reindle | Oct 2009 | B2 |
7617557 | Reindle | Nov 2009 | B2 |
7620476 | Morse et al. | Nov 2009 | B2 |
7636982 | Jones et al. | Dec 2009 | B2 |
7647144 | Haegermarck | Jan 2010 | B2 |
7650666 | Jang | Jan 2010 | B2 |
7660650 | Kawagoe et al. | Feb 2010 | B2 |
7663333 | Jones et al. | Feb 2010 | B2 |
7693605 | Park | Apr 2010 | B2 |
7706917 | Chiappetta et al. | Apr 2010 | B1 |
7765635 | Park | Aug 2010 | B2 |
7801645 | Taylor et al. | Sep 2010 | B2 |
7805220 | Taylor et al. | Sep 2010 | B2 |
7809944 | Kawamoto | Oct 2010 | B2 |
7849555 | Hahm et al. | Dec 2010 | B2 |
7853645 | Brown et al. | Dec 2010 | B2 |
7920941 | Park et al. | Apr 2011 | B2 |
7937800 | Yan | May 2011 | B2 |
7957836 | Myeong et al. | Jun 2011 | B2 |
20010004719 | Sommer | Jun 2001 | A1 |
20010013929 | Torsten | Aug 2001 | A1 |
20010020200 | Das et al. | Sep 2001 | A1 |
20010025183 | Shahidi | Sep 2001 | A1 |
20010037163 | Allard | Nov 2001 | A1 |
20010043509 | Green et al. | Nov 2001 | A1 |
20010045883 | Holdaway et al. | Nov 2001 | A1 |
20010047231 | Peless et al. | Nov 2001 | A1 |
20010047895 | De Fazio et al. | Dec 2001 | A1 |
20020011367 | Kolesnik | Jan 2002 | A1 |
20020011813 | Koselka et al. | Jan 2002 | A1 |
20020016649 | Jones | Feb 2002 | A1 |
20020021219 | Edwards | Feb 2002 | A1 |
20020027652 | Paromtchik et al. | Mar 2002 | A1 |
20020036779 | Kiyoi et al. | Mar 2002 | A1 |
20020081937 | Yamada et al. | Jun 2002 | A1 |
20020095239 | Wallach et al. | Jul 2002 | A1 |
20020097400 | Jung et al. | Jul 2002 | A1 |
20020104963 | Mancevski | Aug 2002 | A1 |
20020108209 | Peterson | Aug 2002 | A1 |
20020112742 | Bredo et al. | Aug 2002 | A1 |
20020113973 | Ge | Aug 2002 | A1 |
20020116089 | Kirkpatrick | Aug 2002 | A1 |
20020120364 | Colens | Aug 2002 | A1 |
20020124343 | Reed | Sep 2002 | A1 |
20020153185 | Song et al. | Oct 2002 | A1 |
20020156556 | Ruffner | Oct 2002 | A1 |
20020159051 | Guo | Oct 2002 | A1 |
20020166193 | Kasper | Nov 2002 | A1 |
20020169521 | Goodman et al. | Nov 2002 | A1 |
20020173877 | Zweig | Nov 2002 | A1 |
20020189871 | Won | Dec 2002 | A1 |
20030009259 | Hattori et al. | Jan 2003 | A1 |
20030019071 | Field et al. | Jan 2003 | A1 |
20030023356 | Keable | Jan 2003 | A1 |
20030024986 | Mazz et al. | Feb 2003 | A1 |
20030025472 | Jones et al. | Feb 2003 | A1 |
20030028286 | Glenn et al. | Feb 2003 | A1 |
20030030399 | Jacobs | Feb 2003 | A1 |
20030058262 | Sato et al. | Mar 2003 | A1 |
20030060928 | Abramson et al. | Mar 2003 | A1 |
20030067451 | Tagg et al. | Apr 2003 | A1 |
20030097875 | Lentz et al. | May 2003 | A1 |
20030120389 | Abramson et al. | Jun 2003 | A1 |
20030124312 | Autumn | Jul 2003 | A1 |
20030126352 | Barrett | Jul 2003 | A1 |
20030137268 | Papanikolopoulos et al. | Jul 2003 | A1 |
20030146384 | Logsdon et al. | Aug 2003 | A1 |
20030192144 | Song et al. | Oct 2003 | A1 |
20030193657 | Uomori et al. | Oct 2003 | A1 |
20030216834 | Allard | Nov 2003 | A1 |
20030221114 | Hino et al. | Nov 2003 | A1 |
20030229421 | Chmura et al. | Dec 2003 | A1 |
20030229474 | Suzuki et al. | Dec 2003 | A1 |
20030233171 | Heiligensetzer | Dec 2003 | A1 |
20030233177 | Johnson et al. | Dec 2003 | A1 |
20030233870 | Mancevski | Dec 2003 | A1 |
20030233930 | Ozick | Dec 2003 | A1 |
20040016077 | Song et al. | Jan 2004 | A1 |
20040020000 | Jones | Feb 2004 | A1 |
20040030448 | Solomon | Feb 2004 | A1 |
20040030449 | Solomon | Feb 2004 | A1 |
20040030450 | Solomon | Feb 2004 | A1 |
20040030451 | Solomon | Feb 2004 | A1 |
20040030570 | Solomon | Feb 2004 | A1 |
20040030571 | Solomon | Feb 2004 | A1 |
20040031113 | Wosewick et al. | Feb 2004 | A1 |
20040049877 | Jones et al. | Mar 2004 | A1 |
20040055163 | McCambridge et al. | Mar 2004 | A1 |
20040068351 | Solomon | Apr 2004 | A1 |
20040068415 | Solomon | Apr 2004 | A1 |
20040068416 | Solomon | Apr 2004 | A1 |
20040074038 | Im et al. | Apr 2004 | A1 |
20040074044 | Diehl et al. | Apr 2004 | A1 |
20040076324 | Burl et al. | Apr 2004 | A1 |
20040083570 | Song et al. | May 2004 | A1 |
20040085037 | Jones et al. | May 2004 | A1 |
20040088079 | Lavarec et al. | May 2004 | A1 |
20040093122 | Galibraith | May 2004 | A1 |
20040098167 | Yi et al. | May 2004 | A1 |
20040111184 | Chiappetta et al. | Jun 2004 | A1 |
20040111821 | Lenkiewicz et al. | Jun 2004 | A1 |
20040113777 | Matsuhira et al. | Jun 2004 | A1 |
20040117064 | McDonald | Jun 2004 | A1 |
20040117846 | Karaoguz et al. | Jun 2004 | A1 |
20040118998 | Wingett et al. | Jun 2004 | A1 |
20040128028 | Miyamoto et al. | Jul 2004 | A1 |
20040133316 | Dean | Jul 2004 | A1 |
20040134336 | Solomon | Jul 2004 | A1 |
20040134337 | Solomon | Jul 2004 | A1 |
20040143919 | Wilder | Jul 2004 | A1 |
20040148419 | Chen et al. | Jul 2004 | A1 |
20040148731 | Damman et al. | Aug 2004 | A1 |
20040153212 | Profio et al. | Aug 2004 | A1 |
20040156541 | Jeon et al. | Aug 2004 | A1 |
20040158357 | Lee et al. | Aug 2004 | A1 |
20040181706 | Chen et al. | Sep 2004 | A1 |
20040187249 | Jones et al. | Sep 2004 | A1 |
20040187457 | Colens | Sep 2004 | A1 |
20040196451 | Aoyama | Oct 2004 | A1 |
20040200505 | Taylor et al. | Oct 2004 | A1 |
20040204792 | Taylor et al. | Oct 2004 | A1 |
20040210345 | Noda et al. | Oct 2004 | A1 |
20040210347 | Sawada et al. | Oct 2004 | A1 |
20040211444 | Taylor et al. | Oct 2004 | A1 |
20040221790 | Sinclair et al. | Nov 2004 | A1 |
20040236468 | Taylor et al. | Nov 2004 | A1 |
20040244138 | Taylor et al. | Dec 2004 | A1 |
20040255425 | Arai et al. | Dec 2004 | A1 |
20050000543 | Taylor et al. | Jan 2005 | A1 |
20050010330 | Abramson et al. | Jan 2005 | A1 |
20050010331 | Taylor et al. | Jan 2005 | A1 |
20050021181 | Kim et al. | Jan 2005 | A1 |
20050067994 | Jones et al. | Mar 2005 | A1 |
20050085947 | Aldred et al. | Apr 2005 | A1 |
20050137749 | Jeon et al. | Jun 2005 | A1 |
20050144751 | Kegg et al. | Jul 2005 | A1 |
20050150074 | Diehl et al. | Jul 2005 | A1 |
20050150519 | Keppler et al. | Jul 2005 | A1 |
20050154795 | Kuz et al. | Jul 2005 | A1 |
20050156562 | Cohen et al. | Jul 2005 | A1 |
20050165508 | Kanda et al. | Jul 2005 | A1 |
20050166354 | Uehigashi | Aug 2005 | A1 |
20050166355 | Tani | Aug 2005 | A1 |
20050172445 | Diehl et al. | Aug 2005 | A1 |
20050183229 | Uehigashi | Aug 2005 | A1 |
20050183230 | Uehigashi | Aug 2005 | A1 |
20050187678 | Myeong et al. | Aug 2005 | A1 |
20050192707 | Park et al. | Sep 2005 | A1 |
20050204717 | Colens | Sep 2005 | A1 |
20050209736 | Kawagoe | Sep 2005 | A1 |
20050211880 | Schell et al. | Sep 2005 | A1 |
20050212929 | Schell et al. | Sep 2005 | A1 |
20050213082 | DiBernardo et al. | Sep 2005 | A1 |
20050213109 | Schell et al. | Sep 2005 | A1 |
20050217042 | Reindle | Oct 2005 | A1 |
20050218852 | Landry et al. | Oct 2005 | A1 |
20050222933 | Wesby | Oct 2005 | A1 |
20050229340 | Sawalski et al. | Oct 2005 | A1 |
20050229355 | Crouch et al. | Oct 2005 | A1 |
20050235451 | Yan | Oct 2005 | A1 |
20050251292 | Casey et al. | Nov 2005 | A1 |
20050255425 | Pierson | Nov 2005 | A1 |
20050258154 | Blankenship et al. | Nov 2005 | A1 |
20050273967 | Taylor et al. | Dec 2005 | A1 |
20050288819 | de | Dec 2005 | A1 |
20060000050 | Cipolla et al. | Jan 2006 | A1 |
20060010638 | Shimizu et al. | Jan 2006 | A1 |
20060020369 | Taylor et al. | Jan 2006 | A1 |
20060020370 | Abramson | Jan 2006 | A1 |
20060021168 | Nishikawa | Feb 2006 | A1 |
20060025134 | Cho et al. | Feb 2006 | A1 |
20060037170 | Shimizu | Feb 2006 | A1 |
20060042042 | Mertes et al. | Mar 2006 | A1 |
20060044546 | Lewin et al. | Mar 2006 | A1 |
20060060216 | Woo | Mar 2006 | A1 |
20060061657 | Rew et al. | Mar 2006 | A1 |
20060064828 | Stein et al. | Mar 2006 | A1 |
20060087273 | Ko et al. | Apr 2006 | A1 |
20060089765 | Pack et al. | Apr 2006 | A1 |
20060100741 | Jung | May 2006 | A1 |
20060119839 | Bertin et al. | Jun 2006 | A1 |
20060143295 | Costa et al. | Jun 2006 | A1 |
20060146776 | Kim | Jul 2006 | A1 |
20060190133 | Konandreas et al. | Aug 2006 | A1 |
20060190146 | Morse et al. | Aug 2006 | A1 |
20060196003 | Song et al. | Sep 2006 | A1 |
20060220900 | Ceskutti et al. | Oct 2006 | A1 |
20060259194 | Chiu | Nov 2006 | A1 |
20060288519 | Jaworski et al. | Dec 2006 | A1 |
20060293787 | Kanda et al. | Dec 2006 | A1 |
20070006404 | Cheng et al. | Jan 2007 | A1 |
20070017061 | Yan | Jan 2007 | A1 |
20070028574 | Yan | Feb 2007 | A1 |
20070032904 | Kawagoe | Feb 2007 | A1 |
20070042716 | Goodall et al. | Feb 2007 | A1 |
20070043459 | Abbott et al. | Feb 2007 | A1 |
20070061041 | Zweig | Mar 2007 | A1 |
20070114975 | Cohen et al. | May 2007 | A1 |
20070150096 | Yeh et al. | Jun 2007 | A1 |
20070157415 | Lee et al. | Jul 2007 | A1 |
20070157420 | Lee et al. | Jul 2007 | A1 |
20070179670 | Chiappetta et al. | Aug 2007 | A1 |
20070226949 | Hahm et al. | Oct 2007 | A1 |
20070234492 | Svendsen et al. | Oct 2007 | A1 |
20070244610 | Ozick et al. | Oct 2007 | A1 |
20070250212 | Halloran et al. | Oct 2007 | A1 |
20070266508 | Jones et al. | Nov 2007 | A1 |
20080007203 | Cohen et al. | Jan 2008 | A1 |
20080039974 | Sandin et al. | Feb 2008 | A1 |
20080052846 | Kapoor et al. | Mar 2008 | A1 |
20080091304 | Ozick et al. | Apr 2008 | A1 |
20080184518 | Taylor | Aug 2008 | A1 |
20080276407 | Schnittman et al. | Nov 2008 | A1 |
20080281470 | Gilbert et al. | Nov 2008 | A1 |
20080282494 | Won et al. | Nov 2008 | A1 |
20080294288 | Yamauchi | Nov 2008 | A1 |
20080302586 | Yan | Dec 2008 | A1 |
20080307590 | Jones et al. | Dec 2008 | A1 |
20090007366 | Svendsen et al. | Jan 2009 | A1 |
20090038089 | Landry et al. | Feb 2009 | A1 |
20090049640 | Lee et al. | Feb 2009 | A1 |
20090055022 | Casey et al. | Feb 2009 | A1 |
20090102296 | Greene et al. | Apr 2009 | A1 |
20090292393 | Casey et al. | Nov 2009 | A1 |
20100011529 | Won et al. | Jan 2010 | A1 |
20100049365 | Jones et al. | Feb 2010 | A1 |
20100063628 | Landry et al. | Mar 2010 | A1 |
20100107355 | Won et al. | May 2010 | A1 |
20100257690 | Jones et al. | Oct 2010 | A1 |
20100257691 | Jones et al. | Oct 2010 | A1 |
20100263158 | Jones et al. | Oct 2010 | A1 |
20100268384 | Jones et al. | Oct 2010 | A1 |
20100312429 | Jones et al. | Dec 2010 | A1 |
Number | Date | Country |
---|---|---|
2003275566 | Jun 2004 | AU |
2003275566 | Jun 2004 | AU |
2128842 | Dec 1980 | DE |
3317376 | Nov 1984 | DE |
3536907 | Feb 1989 | DE |
3404202 | Dec 1992 | DE |
199311014 | Oct 1993 | DE |
4414683 | Oct 1995 | DE |
4338841 | Aug 1999 | DE |
19849978 | Feb 2001 | DE |
19849978 | Feb 2001 | DE |
10242257 | Apr 2003 | DE |
102004038074 | Jun 2005 | DE |
10357636 | Jul 2005 | DE |
10357636 | Jul 2005 | DE |
102004041021 | Aug 2005 | DE |
102004041021 | Aug 2005 | DE |
102005046813 | Apr 2007 | DE |
102005046813 | Apr 2007 | DE |
198803389 | Dec 1988 | DK |
265542 | May 1988 | EP |
281085 | Sep 1988 | EP |
0307381 | Mar 1989 | EP |
307381 | Jul 1990 | EP |
358628 | May 1991 | EP |
437024 | Jul 1991 | EP |
433697 | Dec 1992 | EP |
479273 | May 1993 | EP |
294101 | Dec 1993 | EP |
554978 | Mar 1994 | EP |
0 615 719 | Sep 1994 | EP |
615719 | Sep 1994 | EP |
0 792 726 | Sep 1997 | EP |
861629 | Sep 1998 | EP |
930040 | Oct 1999 | EP |
845237 | Apr 2000 | EP |
1018315 | Jul 2000 | EP |
1172719 | Jan 2002 | EP |
1172719 | Jan 2002 | EP |
1228734 | Jun 2003 | EP |
1 331 537 | Jul 2003 | EP |
1 331 537 | Jul 2003 | EP |
1331537 | Jul 2003 | EP |
1 380 245 | Jan 2004 | EP |
1380245 | Jan 2004 | EP |
1380246 | Jan 2004 | EP |
1380246 | Mar 2005 | EP |
1 557 730 | Jul 2005 | EP |
1553472 | Jul 2005 | EP |
1557730 | Jul 2005 | EP |
1642522 | Apr 2006 | EP |
1642522 | Nov 2007 | EP |
2238196 | Nov 2006 | ES |
2601443 | Nov 1991 | FR |
2 828 589 | Aug 2001 | FR |
702426 | Jan 1954 | GB |
2128842 | Apr 1986 | GB |
2213047 | Aug 1989 | GB |
2225221 | May 1990 | GB |
2225221 | May 1990 | GB |
2 283 838 | May 1995 | GB |
2284957 | Jun 1995 | GB |
2267360 | Dec 1995 | GB |
2300082 | Sep 1999 | GB |
2404330 | Jul 2005 | GB |
2417354 | Feb 2006 | GB |
53021869 | Feb 1978 | JP |
53110257 | Sep 1978 | JP |
53110257 | Sep 1978 | JP |
943901 | Mar 1979 | JP |
57014726 | Jan 1982 | JP |
57064217 | Apr 1982 | JP |
59-005315 | Jan 1984 | JP |
59005315 | Feb 1984 | JP |
59033511 | Mar 1984 | JP |
59094005 | May 1984 | JP |
59099308 | Jul 1984 | JP |
59112311 | Jul 1984 | JP |
59033511 | Aug 1984 | JP |
59120124 | Aug 1984 | JP |
59131668 | Sep 1984 | JP |
59164973 | Sep 1984 | JP |
59184917 | Oct 1984 | JP |
2283343 | Nov 1984 | JP |
59212924 | Dec 1984 | JP |
59226909 | Dec 1984 | JP |
60089213 | May 1985 | JP |
60089213 | Jun 1985 | JP |
60211510 | Oct 1985 | JP |
60259895 | Dec 1985 | JP |
61023221 | Jan 1986 | JP |
61097712 | May 1986 | JP |
61023221 | Jun 1986 | JP |
62074018 | Apr 1987 | JP |
62070709 | May 1987 | JP |
62-120510 | Jun 1987 | JP |
62-154008 | Jul 1987 | JP |
62164431 | Oct 1987 | JP |
62-263507 | Nov 1987 | JP |
62263507 | Nov 1987 | JP |
62263508 | Nov 1987 | JP |
62189057 | Dec 1987 | JP |
63079623 | Apr 1988 | JP |
63-183032 | Jul 1988 | JP |
63158032 | Jul 1988 | JP |
63-241610 | Oct 1988 | JP |
1162454 | Jun 1989 | JP |
2-6312 | Jan 1990 | JP |
2006312 | Jan 1990 | JP |
2026312 | Jun 1990 | JP |
2283343 | Nov 1990 | JP |
03 051023 | Mar 1991 | JP |
3051023 | Mar 1991 | JP |
3197758 | Aug 1991 | JP |
3201903 | Sep 1991 | JP |
4019586 | Mar 1992 | JP |
4084921 | Mar 1992 | JP |
5023269 | Apr 1993 | JP |
5091604 | Apr 1993 | JP |
5042076 | Jun 1993 | JP |
5046246 | Jun 1993 | JP |
5150827 | Jun 1993 | JP |
5150829 | Jun 1993 | JP |
5046239 | Jul 1993 | JP |
5054620 | Jul 1993 | JP |
5054620 | Jul 1993 | JP |
5040519 | Oct 1993 | JP |
5257527 | Oct 1993 | JP |
5257533 | Oct 1993 | JP |
5285861 | Nov 1993 | JP |
6-3251 | Jan 1994 | JP |
6003251 | Jan 1994 | JP |
06-038912 | Feb 1994 | JP |
6026312 | Apr 1994 | JP |
6137828 | May 1994 | JP |
6293095 | Oct 1994 | JP |
06-327598 | Nov 1994 | JP |
6105781 | Dec 1994 | JP |
7059702 | Mar 1995 | JP |
07-129239 | May 1995 | JP |
7059702 | Jun 1995 | JP |
7222705 | Aug 1995 | JP |
7222705 | Aug 1995 | JP |
7270518 | Oct 1995 | JP |
7281742 | Oct 1995 | JP |
7281752 | Oct 1995 | JP |
7-295636 | Nov 1995 | JP |
7311041 | Nov 1995 | JP |
7313417 | Dec 1995 | JP |
7313417 | Dec 1995 | JP |
7319542 | Dec 1995 | JP |
8-16776 | Jan 1996 | JP |
8000393 | Jan 1996 | JP |
8000393 | Jan 1996 | JP |
8016241 | Jan 1996 | JP |
80000393 | Jan 1996 | JP |
8016776 | Feb 1996 | JP |
08-083125 | Mar 1996 | JP |
8063229 | Mar 1996 | JP |
8083125 | Mar 1996 | JP |
8083125 | Mar 1996 | JP |
08-089451 | Apr 1996 | JP |
8089449 | Apr 1996 | JP |
2520732 | May 1996 | JP |
8123548 | May 1996 | JP |
8123548 | May 1996 | JP |
08-152916 | Jun 1996 | JP |
8152916 | Jun 1996 | JP |
2555263 | Aug 1996 | JP |
8256960 | Oct 1996 | JP |
8263137 | Oct 1996 | JP |
8263137 | Oct 1996 | JP |
8286741 | Nov 1996 | JP |
8286744 | Nov 1996 | JP |
8322774 | Dec 1996 | JP |
8322774 | Dec 1996 | JP |
8335112 | Dec 1996 | JP |
8335112 | Dec 1996 | JP |
9-43901 | Feb 1997 | JP |
9043901 | Feb 1997 | JP |
9044240 | Feb 1997 | JP |
9047413 | Feb 1997 | JP |
9066855 | Mar 1997 | JP |
9066855 | Mar 1997 | JP |
9145309 | Jun 1997 | JP |
9160644 | Jun 1997 | JP |
9160644 | Jun 1997 | JP |
8-393 | Jul 1997 | JP |
9-179625 | Jul 1997 | JP |
9179625 | Jul 1997 | JP |
9179685 | Jul 1997 | JP |
9185410 | Jul 1997 | JP |
9192069 | Jul 1997 | JP |
09-206258 | Aug 1997 | JP |
9204223 | Aug 1997 | JP |
9206258 | Aug 1997 | JP |
9206258 | Aug 1997 | JP |
09-233712 | Sep 1997 | JP |
9233712 | Sep 1997 | JP |
09251318 | Sep 1997 | JP |
9251318 | Sep 1997 | JP |
9265319 | Oct 1997 | JP |
9265319 | Oct 1997 | JP |
9269807 | Oct 1997 | JP |
9269807 | Oct 1997 | JP |
9269810 | Oct 1997 | JP |
9269810 | Oct 1997 | JP |
02555263 | Nov 1997 | JP |
9319431 | Dec 1997 | JP |
9319431 | Dec 1997 | JP |
9319432 | Dec 1997 | JP |
9319432 | Dec 1997 | JP |
9319434 | Dec 1997 | JP |
9319434 | Dec 1997 | JP |
9325812 | Dec 1997 | JP |
9325812 | Dec 1997 | JP |
10055215 | Feb 1998 | JP |
10055215 | Feb 1998 | JP |
10117973 | May 1998 | JP |
10117973 | May 1998 | JP |
10117973 | May 1998 | JP |
10118963 | May 1998 | JP |
10118963 | May 1998 | JP |
10177414 | Jun 1998 | JP |
10214114 | Aug 1998 | JP |
10214114 | Aug 1998 | JP |
10228316 | Aug 1998 | JP |
10240342 | Sep 1998 | JP |
10260727 | Sep 1998 | JP |
10295595 | Nov 1998 | JP |
10295595 | Nov 1998 | JP |
11015941 | Jan 1999 | JP |
11015941 | Jan 1999 | JP |
11065655 | Mar 1999 | JP |
11085269 | Mar 1999 | JP |
11102219 | Apr 1999 | JP |
11102220 | Apr 1999 | JP |
11102220 | Apr 1999 | JP |
11162454 | Jun 1999 | JP |
11174145 | Jul 1999 | JP |
11174145 | Jul 1999 | JP |
11175149 | Jul 1999 | JP |
11175149 | Jul 1999 | JP |
11178764 | Jul 1999 | JP |
11178765 | Jul 1999 | JP |
11-508810 | Aug 1999 | JP |
11212642 | Aug 1999 | JP |
11212642 | Aug 1999 | JP |
11213157 | Aug 1999 | JP |
11213157 | Aug 1999 | JP |
11-248806 | Sep 1999 | JP |
11-510935 | Sep 1999 | JP |
11248806 | Sep 1999 | JP |
11-282533 | Oct 1999 | JP |
11282532 | Oct 1999 | JP |
11282533 | Oct 1999 | JP |
11295412 | Oct 1999 | JP |
11295412 | Oct 1999 | JP |
11346964 | Dec 1999 | JP |
2000-047728 | Feb 2000 | JP |
2000047728 | Feb 2000 | JP |
2000056006 | Feb 2000 | JP |
2000056006 | Feb 2000 | JP |
2000056831 | Feb 2000 | JP |
2000056831 | Feb 2000 | JP |
2000066722 | Mar 2000 | JP |
2000066722 | Mar 2000 | JP |
2000075925 | Mar 2000 | JP |
2000075925 | Mar 2000 | JP |
10240343 | May 2000 | JP |
20000275321 | Oct 2000 | JP |
11-162454 | Dec 2000 | JP |
2000353014 | Dec 2000 | JP |
20000353014 | Dec 2000 | JP |
200122443 | Jan 2001 | JP |
2001022443 | Jan 2001 | JP |
2001067588 | Mar 2001 | JP |
2001087182 | Apr 2001 | JP |
2001087182 | Apr 2001 | JP |
2001-125641 | May 2001 | JP |
2001121455 | May 2001 | JP |
2001125641 | May 2001 | JP |
2001216482 | Aug 2001 | JP |
2001-258807 | Sep 2001 | JP |
2001265437 | Sep 2001 | JP |
2001265437 | Sep 2001 | JP |
2001-275908 | Oct 2001 | JP |
2001289939 | Oct 2001 | JP |
2001306170 | Nov 2001 | JP |
2001320781 | Nov 2001 | JP |
2001-525567 | Dec 2001 | JP |
2002-78650 | Mar 2002 | JP |
2002-204768 | Jul 2002 | JP |
2002204769 | Jul 2002 | JP |
2002247610 | Aug 2002 | JP |
2002-532178 | Oct 2002 | JP |
3356170 | Oct 2002 | JP |
2002-323925 | Nov 2002 | JP |
3375843 | Nov 2002 | JP |
2002333920 | Nov 2002 | JP |
2002333920 | Nov 2002 | JP |
2002-355206 | Dec 2002 | JP |
2002-360471 | Dec 2002 | JP |
2002-360482 | Dec 2002 | JP |
2002360479 | Dec 2002 | JP |
2002366227 | Dec 2002 | JP |
2002369778 | Dec 2002 | JP |
2002369778 | Dec 2002 | JP |
2003-10076 | Jan 2003 | JP |
2003010076 | Jan 2003 | JP |
2003010076 | Jan 2003 | JP |
2003010088 | Jan 2003 | JP |
2003010088 | Jan 2003 | JP |
2003015740 | Jan 2003 | JP |
2003015740 | Jan 2003 | JP |
2003028528 | Jan 2003 | JP |
2003-5296 | Feb 2003 | JP |
2003-036116 | Feb 2003 | JP |
2003-38401 | Feb 2003 | JP |
2003-38402 | Feb 2003 | JP |
2003-505127 | Feb 2003 | JP |
2003047579 | Feb 2003 | JP |
2003052596 | Feb 2003 | JP |
2003-061882 | Mar 2003 | JP |
2003061882 | Mar 2003 | JP |
2003084994 | Mar 2003 | JP |
2003167628 | Jun 2003 | JP |
2003167628 | Jun 2003 | JP |
2003-186539 | Jul 2003 | JP |
2003180586 | Jul 2003 | JP |
2003180587 | Jul 2003 | JP |
2003186539 | Jul 2003 | JP |
2003190064 | Jul 2003 | JP |
2003190064 | Jul 2003 | JP |
2003241836 | Aug 2003 | JP |
2003262520 | Sep 2003 | JP |
2003262520 | Sep 2003 | JP |
2003285288 | Oct 2003 | JP |
2003285288 | Oct 2003 | JP |
2003304992 | Oct 2003 | JP |
2003304992 | Oct 2003 | JP |
2003-310489 | Nov 2003 | JP |
2003-330543 | Nov 2003 | JP |
2003310509 | Nov 2003 | JP |
2003310509 | Nov 2003 | JP |
2003330543 | Nov 2003 | JP |
2004123040 | Apr 2004 | JP |
2004123040 | Apr 2004 | JP |
2004148021 | May 2004 | JP |
2004148021 | May 2004 | JP |
2004160102 | Jun 2004 | JP |
2004160102 | Jun 2004 | JP |
2004166968 | Jun 2004 | JP |
2004174228 | Jun 2004 | JP |
2004174228 | Jun 2004 | JP |
2004198330 | Jul 2004 | JP |
2004219185 | Aug 2004 | JP |
2005352707 | Feb 2005 | JP |
2005118354 | May 2005 | JP |
2005135400 | May 2005 | JP |
2005135400 | May 2005 | JP |
2005211360 | Aug 2005 | JP |
2005224265 | Aug 2005 | JP |
2005230032 | Sep 2005 | JP |
2005245916 | Sep 2005 | JP |
2005245916 | Sep 2005 | JP |
2005296511 | Oct 2005 | JP |
2005346700 | Dec 2005 | JP |
2005352707 | Dec 2005 | JP |
2006043071 | Feb 2006 | JP |
2006043071 | Feb 2006 | JP |
2006155274 | Jun 2006 | JP |
2006155274 | Jun 2006 | JP |
2006164223 | Jun 2006 | JP |
2006227673 | Aug 2006 | JP |
2006247467 | Sep 2006 | JP |
2006247467 | Sep 2006 | JP |
2006260161 | Sep 2006 | JP |
2006260161 | Sep 2006 | JP |
2006293662 | Oct 2006 | JP |
2006293662 | Oct 2006 | JP |
2006296697 | Nov 2006 | JP |
2006296697 | Nov 2006 | JP |
2007034866 | Feb 2007 | JP |
2007034866 | Feb 2007 | JP |
2007213180 | Aug 2007 | JP |
2007213180 | Aug 2007 | JP |
04074285 | Apr 2008 | JP |
2009015611 | Jan 2009 | JP |
2009015611 | Jan 2009 | JP |
2010198552 | Sep 2010 | JP |
2010198552 | Sep 2010 | JP |
WO 9526512 | Oct 1995 | WO |
WO 9530887 | Nov 1995 | WO |
WO9530887 | Nov 1995 | WO |
WO9617258 | Feb 1997 | WO |
WO 9715224 | May 1997 | WO |
WO 9740734 | Nov 1997 | WO |
WO 9741451 | Nov 1997 | WO |
WO 9853456 | Nov 1998 | WO |
WO9905580 | Feb 1999 | WO |
WO 9916078 | Apr 1999 | WO |
WO 9928800 | Jun 1999 | WO |
WO 9938056 | Jul 1999 | WO |
WO 9938237 | Jul 1999 | WO |
WO 9943250 | Sep 1999 | WO |
WO 9959042 | Nov 1999 | WO |
WO 0004430 | Jan 2000 | WO |
WO 0036962 | Jun 2000 | WO |
WO 0038026 | Jun 2000 | WO |
WO 0038029 | Jun 2000 | WO |
WO0003802 | Jun 2000 | WO |
WO0038028A1 | Jun 2000 | WO |
WO 0078410 | Dec 2000 | WO |
WO 0106904 | Feb 2001 | WO |
WO 0106905 | Feb 2001 | WO |
WO0180703 | Nov 2001 | WO |
WO0191623 | Dec 2001 | WO |
WO 0239864 | May 2002 | WO |
WO 0239868 | May 2002 | WO |
WO 02058527 | Aug 2002 | WO |
WO 02062194 | Aug 2002 | WO |
WO 02067744 | Sep 2002 | WO |
WO 02067745 | Sep 2002 | WO |
WO02071175 | Sep 2002 | WO |
WO 02074150 | Sep 2002 | WO |
WO 02075356 | Sep 2002 | WO |
WO 02075469 | Sep 2002 | WO |
WO 02075470 | Sep 2002 | WO |
WO02067752 | Sep 2002 | WO |
WO02069774 | Sep 2002 | WO |
WO02069775 | Sep 2002 | WO |
WO02071175 | Sep 2002 | WO |
WO02075350 | Sep 2002 | WO |
WO02081074 | Oct 2002 | WO |
WO 02101477 | Dec 2002 | WO |
WO03015220 | Feb 2003 | WO |
WO03015220 | Feb 2003 | WO |
WO03024292 | Mar 2003 | WO |
WO 03026474 | Apr 2003 | WO |
WO 03040546 | May 2003 | WO |
WO 03040845 | May 2003 | WO |
WO 03040846 | May 2003 | WO |
WO02069775 | May 2003 | WO |
WO03040546 | May 2003 | WO |
WO03062850 | Jul 2003 | WO |
WO03062852 | Jul 2003 | WO |
WO 2004006034 | Jan 2004 | WO |
WO 2004004533 | Jan 2004 | WO |
WO2004004534 | Jan 2004 | WO |
WO2004005956 | Jan 2004 | WO |
WO2004025947 | May 2004 | WO |
WO2004043215 | May 2004 | WO |
WO2004043215 | May 2004 | WO |
WO2004058028 | Jul 2004 | WO |
WO2004059409 | Jul 2004 | WO |
WO2004058028 | Jul 2004 | WO |
WO2004058028 | Jul 2004 | WO |
WO2004059409 | Jul 2004 | WO |
WO 2004058028 | Dec 2004 | WO |
WO2005006935 | Jan 2005 | WO |
WO2005006935 | Jan 2005 | WO |
WO2005036292 | Apr 2005 | WO |
WO2005036292 | Apr 2005 | WO |
WO 2005055795 | Jun 2005 | WO |
WO2005055795 | Jun 2005 | WO |
WO2005055796 | Jun 2005 | WO |
WO2005055796 | Jun 2005 | WO |
WO2005076545 | Aug 2005 | WO |
WO2005077243 | Aug 2005 | WO |
WO 2005077244 | Aug 2005 | WO |
W02005081074 | Sep 2005 | WO |
WO2005081074 | Sep 2005 | WO |
WO2005082223 | Sep 2005 | WO |
WO2005082223 | Sep 2005 | WO |
WO2005083541 | Sep 2005 | WO |
WO2005098475 | Oct 2005 | WO |
WO2005098476 | Oct 2005 | WO |
WO2006046400 | May 2006 | WO |
WO2006061133 | Jun 2006 | WO |
WO2006061133 | Jun 2006 | WO |
WO2006068403 | Jun 2006 | WO |
WO 2006068403 | Jun 2006 | WO |
WO2006073248 | Jul 2006 | WO |
WO2006073248 | Jul 2006 | WO |
WO2007036490 | Apr 2007 | WO |
WO2007036490 | May 2007 | WO |
WO2007065033 | Jun 2007 | WO |
WO2007137234 | Nov 2007 | WO |
Entry |
---|
Cameron Morland, Autonomous Lawn Mower Control, Jul. 24, 2002. |
JP 2006-551013; Office Action dated Apr. 27, 2009 for Japanese counterpart application (7 pages). |
JP 2007-10829; Office Action dated May 11, 2009 for Japanese counterpart application (6 pages). |
Examination report dated Jan. 30, 2006 for U.S. Appl. No. 10/762,219. |
Examination report dated May 14, 2007 for U.S. Appl. No. 10/762,219. |
Examination report dated Feb. 25, 2008 for U.S. Appl. No. 11/648,230. |
Examination report dated Oct. 17, 2008 for U.S. Appl. No. 11/648,230. |
Examination report dated Apr. 6, 2009 for U.S. Appl. No. 11/648,230. |
Examination report dated Nov. 12, 2009 for U.S. Appl. No. 11/648,230. |
Examination report dated Jan. 7, 2008 for U.S. Appl. No. 11/648,241. |
Examination report dated Jul. 29, 2008 for U.S. Appl. No. 11/648,241. |
Examination report dated Jan. 27, 2009 for U.S. Appl. No. 11/648,241. |
Examination report dated Apr. 2, 2010 for U.S. Appl. No. 11/648,241. |
Examination report dated Jun. 11, 2010 for U.S. Appl. No. 11/648,230. |
Doty, Keith L et al, “Sweep Strategies for a Sensory-Driven, Behavior-Based Vacuum Cleaning Agent” AAA1 1993 Fall Symposium Series Instantiating Real-World Agents Research Triangle Park, Raleigh, NC, Oct. 22-24, 1993, pp. 1-6. |
Electrolux designed for the well-lived home, website: http://www.electroluxusa.com/node57.as[?currentURL=node]42.asp%3F, acessed Mar. 18, 2005, 5 pgs. |
eVac Robotic Vacuum S1727 Instruction Manual, Sharper Image Corp, Copyright 2004, 16 pgs. |
Everday Robots, website: http://www.everydayrobots.com/index.php?option=content&task=view&id=9, accessed Apr. 20, 2005, 7 pgs. |
Facts on the Trilobite webpage: “http://trilobite.electrolux.se/presskit—en/nodel1335.asp?print=yes&pressID=” accessed Dec. 12, 2003 (2 pages). |
Friendly Robotics Robotic Vacuum RV400—The Robot Store website: http://www.therobotstore.com/s.nl/sc.9/category,—109/it.A/id.43/.f, accessed Apr. 20, 2005, 5 pgs. |
Gat, Erann, Robust Low-computation Sensor-driven Control for Task-Directed Navigation, Proceedings of the 1991 IEEE, International Conference on Robotics and Automation, Sacramento, California, Apr. 1991, pp. 2484-2489. |
Hitachi: News release: The home cleaning robot of the autonomous movement type (experimental machine) is developed, website: http://www.i4u.corn/japanreleases/hitachirobot.htm., accessed Mar. 18, 2005, 5 pgs. |
Kärcher Product Manual Download webpage: “http://www.karcher.com/bta/download.en.shtml?Action=Selectteilenr&ID=rc3000&submitButtonName=Select+Product+Manual” and associated .pdf file “5959-915en.pdf (4.7 MB) English/English” accessed Jan. 21, 2004 (16 pages). |
Karcher RC 3000 Cleaning Robot—user manual Manufacturer: Alfred-Karcher GmbH & Co, Cleaning Systems, Alfred Karcher-Str 28-40, PO Box 160, D-71349 Winnenden, Germany, Dec. 2002. |
Kärcher RoboCleaner RC 3000 Product Details webpages: “http://www.robocleaner.de/english/screen3.html” through “ . . . screen6.html” accessed Dec. 12, 2003 (4 pages). |
Karcher USA, RC3000 Robotic Cleaner, website: http://wwvv.karcher-usa.com/showproducts.php?op=view—prod¶m1=143¶m2=¶m3=, accessed Mar. 18, 2005, 6 pgs. |
koolvac Robotic Vacuum Cleaner Owner's Manual, Koolatron, Undated, 26 pgs. |
NorthStar Low-Cost, Indoor Localization, Evolution robotics, Powering Intelligent Products, 2 pgs. |
PCT International Search Report for International Application No. PCT/US2004/001504. |
Put Your Roomba . . . On “Automatic” Roomba Timer> Timed Cleaning-Floorvac Robotic Vacuum webpages: http://cgi.ebay.com/ws/eBayISAPI.dll?ViewItem&category=43575198387&rd=1, accessed Apr. 20, 2005, 5 pgs. |
Put Your Roomba . . . On “Automatic” webpages: “http://www.acomputeredge.com/roomba,” accessed Apr. 20, 2005, 5 pgs. |
RoboMaid Sweeps Your Floors So You Won't Have to, the Official Site, website: http://www.thereobomaid.com/, acessed Mar. 18, 2008, 2 pgs. |
Robot Review Samsung Robot Vacuum (VC-RP30W), website: http://www.onrobo.com/reviews/At—Home/Vacuun—Cleaners/on00vcrp30rosam/index.htm, accessed Mar. 18, 2005, 11 pgs. |
Robotic Vacuum Cleaner-Blue, website: http://www.sharperimage.com/us/en/catalog/productview.jhtml?sku=S1727BLU, accessed Mar. 18, 2005, 3 pgs. |
Schofield, Monica, “Neither Master nor Slave” A Practical Study in the Development and Employment of Cleaning Robots, Emerging Technologies and Factory Automation, 1999 Proceedings EFA'99 1999 7th IEEE International Conference on Barcelona, Spain Oct. 18-21, 1999, pp. 1427-1434. |
Wired News: Robot Vacs Are in the House, website: http://www.wired.com/news/print/0,1294,59237,00.html, accessed Mar. 18, 2005, 6 pgs. |
Zoombot Remote Controlled Vaccum-RV-500 NEW Roomba 2, website: http://cgi.ebay.com/ws/eBayISAPI.dll?ViewItem&categoty=43526&item=4373497618&rd=1, accessed Apr. 20, 2005, 7 pgs. |
Examination report dated Aug. 12, 2010 for corresponding application (KR) 10-2006-7014807. |
Examination report dated Aug. 12, 2010 for corresponding application (KR) 10-2009-7025882. |
Examination report dated Sep. 10, 2008 for corresponding application (EP) 08151962.1. |
Examination report dated May 27, 2010 for corresponding application (EP) 10160949.3. |
Written Opinion for corresponding application PCT/US2004/001504. |
Office Action received for Korean Patent Application No. 10-2010-7025523, mailed on Feb. 15, 20011, 11 pages including English translation. |
Authorised Officer Joaquin Vano Gea, Extended Search Report received for European Patent Application No. 10181174.3, mailed on Feb. 10, 2011, 6 pages. |
Prassler et al. ‘A Short History of Cleaning Robots’ Autonomous Robots 9, 2000, pp. 211-226. |
Authorised Officer Amod Pradhan, Office Action received for Australian Patent Application No. 2010212297, mailed on Feb. 16, 2011, 3 pages. |
Authorised Officer Amod Pradhan, Office Action received for Australian Patent Application No. 2004316156, mailed on Feb. 13, 2009, 2 pages. |
Authorised Officer Joaquin Vano Gea, Office Action received for European Patent Application No. 10160949.3, mailed on Mar. 17, 2011, 5 pages. |
Authorised Officer Joaquin Vano Gea, Extended Search Report received for corresponding European Patent Application No. 10181187.5, mailed on Feb. 10, 2011, 8 pages. |
Authorised Officer Joaquin Vano Gea, Office Action received for European Patent Application No. 04704061.3, mailed on Mar. 6, 2007, 4 pages. |
Authorised Officer Aaron Piggush, Office Action received for U.S. Appl. No. 11/648,241, dated Mar. 18, 2011, 11 pages. |
Authorised Officer Joaquin Vano Gea, Office Action received for European Patent Application No. 04704061.3, mailed on Nov. 30, 2007, 4 pages. |
Authorised Officer Aaron Piggush, Office Action received for U.S. Appl. No. 11/648,230, dated Mar. 2, 2011, 11 pages. |
Authorised Officer Muhammad Haramain Osman, Office Action received for Singapore Patent Application No. 200505559-5, mailed on Oct. 30, 2007, 4 pages. |
U.S. Appl. No. 60/605,066, filed Aug. 27, 2004, Taylor. |
U.S. Appl. No. 60/605,181, filed Aug. 27, 2004, Taylor. |
Examination report dated Oct. 11, 2011 for U.S. Appl. No. 11/648,230. |
Examination report dated Oct. 11, 2011 for U.S. Appl. No. 11/648,241. |
Borges et al. “Optimal Mobile Robot Pose Estimation Using Geometrical Maps”, IEEE Transactions on Robotics and Automation, vol. 18, No. 1, pp. 87-94, Feb. 2002. |
Braunstingl et al. “Fuzzy Logic Wall Following of a Mobile Robot Based on the Concept of General Perception” ICAR '95, 7th International Conference on Advanced Robotics, Sant Feliu De Guixols, Spain, pp. 367-376, Sep. 1995. |
Bulusu, et al. “Self Configuring Localizaton systems: Design and Experimental Evaluation”, ACM Transactions on Embedded Computing Systems vol. 3 No. 1 pp. 24-60, 2003. |
Caccia, et al. “Bottom-Following for Remotely Operated Vehicles”, 5th IFAC conference, Alaborg, Denmark, pp. 245-250 Aug. 1, 2000. |
Chae, et al. “StarLITE: A new artificial landmark for the navigation of mobile robots”, http://www.irc.atr.jp/jk-nrs2005/pdf/Starlite.pdf, 4 pages, 2005. |
Chamberlin et al. “Team 1: Robot Locator Beacon System” NASA Goddard SFC, Design Proposal, 15 pages, Feb. 17, 2006. |
Champy “Physical management of IT assets in Data Centers using RFID technologies”, RFID 2005 University, Oct. 12-14, 2005 (NPL0126). |
Chiri “Joystick Control for Tiny OS Robot”, http://www.eecs.berkeley.edu/Programs/ugrad/superb/papers2002/chiri.pdf. 12 pages, Aug. 8, 2002. |
Christensen et al. “Theoretical Methods for Planning and Control in Mobile Robotics” 1997 First International Conference on Knowledge-Based Intelligent Electronic Systems, Adelaide, Australia, pp. 81-86, May 21-27, 1997. |
Clerentin, et al. “A localization method based on two omnidirectional perception systems cooperation” Proc of IEEE International Conference on Robotics & Automation, San Francisco, CA vol. 2, pp. 1219-1224, Apr. 2000. |
Corke “High Performance Visual serving for robots end-point control”. SPIE vol. 2056 Intelligent robots and computer vision 1993. |
Cozman et al. “Robot Localization using a Computer Vision Sextant”, IEEE International Midwest Conference on Robotics and Automation, pp. 106-111, 1995. |
D'Orazio, et al. “Model based Vision System for mobile robot position estimation”, SPIE vol. 2058 Mobile Robots VIII, pp. 38-49, 1992. |
De Bakker, et al. “Smart PSD—array for sheet of light range imaging”, Proc. Of SPIE vol. 3965. pp. 1-12, May 15, 2000. |
Desaulniers, et al. “An Efficient Algorithm to find a shortest path for a car-like Robot”, IEEE Transactions on robotics and Automation vol. 11 No. 6, pp. 819-828, Dec. 1995. |
Dorfmüller-Ulhaas “Optical Tracking From User Motion to 3D Interaction”, http://www.cg.tuwien.ac.at/research/publications/2002/Dorfmueller-Ulhaas-thesis, 182 pages, 2002. |
Dorsch, et al. “Laser Triangulation: Fundamental uncertainty in distance measurement”, Applied Optics, vol. 33 No. 7, pp. 1306-1314, Mar. 1, 1994. |
Dudek, et al. “Localizing A Robot with Minimum Travel” Proceedings of the sixth annual ACM-SIAM Symposium on Discrete algorithms, vol. 27 No. 2 pp. 583-604, Apr. 1998. |
Dulimarta, et al. “Mobile Robot Localization in Indoor Environment”, Pattern Recognition, vol. 30, No. 1, pp. 99-111, 1997. |
EBay “Roomba Timer -> Timed Cleaning—Floorvac Robotic Vacuum”, Cgi.ebay.com/ws/eBay|SAP|.dll?viewitem&category=43526&item=4375198387&rd=1, 5 pages, Apr. 20, 2005. |
Electrolux “Welcome to the Electrolux trilobite” www.electroluxusa.com/node57.asp?currentURL=node142.asp%3F, 2 pages, Mar. 18, 2005. |
Eren, et al. “Accuracy in position estimation of mobile robots based on coded infrared signal transmission”, Proceedings: Integrating Intelligent Instrumentation and Control, Instrumentation and Measurement Technology Conference, 1995. IMTC/95. pp. 548-551, 1995. |
Eren, at al. “Operation of Mobile Robots in a Structured Infrared Environment”, Proceedings. ‘Sensing, Processing, Networking’, IEEE Instrumentation and Measurement Technology Conference, 1997 (IMTC/97), Ottawa, Canada vol. 1, pp. 20-25, May 19-21, 1997. |
Becker, et al. “Reliable Navigation Using Landmarks ” IEEE International Conference on Robotics and Automation, 0-7803-1965-6, pp. 401-406, 1995. |
Benayad-Cherif, et al., “Mobile Robot Navigation Sensors” SPIE vol. 1831 Mobile Robots, VII, pp. 378-387, 1992. |
Facchinetti, Claudio et al. “Using and Learning Vision-Based Self-Positioning for Autonomous Robot Navigation”, ICARCV '94, vol. 3 pp. 1694-1698, 1994. |
Betke, et al., “Mobile Robot localization using Landmarks” Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems '94 “Advanced Robotic Systems and the Real World” (IROS '94), vol. |
Facchinetti, Claudio et al. “Self-Positioning Robot Navigation Using Ceiling Images Sequences”, ACCV '95, 5 pages, Dec. 5-8, 1995. |
Fairfield, Nathaniel et al. “Mobile Robot Localization with Sparse Landmarks”, SPIE vol. 4573 pp. 148-155, 2002. |
Favre-Bulle, Bernard “Efficient tracking of 3D—Robot Position by Dynamic Triangulation”, IEEE Instrumentation and Measurement Technology Conference IMTC 98 Session on Instrumentation and Measurement in Robotics, vol. 1, pp. 446-449, May 18-21, 1998. |
Fayman “Exploiting Process Integration and Composition in the context of Active Vision”, IEEE Transactions on Systems, Man, and Cybernetics—Part C: Application and reviews, vol. 29 No. 1, pp. 73-86, Feb. 1999. |
Florbot GE Plastics Image (1989-1990). |
Franz, et al. “Biomimetric robot navigation”, Robotics and Autonomous Systems vol. 30 pp. 133-153, 2000. |
Friendly Robotics “Friendly Robotics—Friendly Vac, Robotic Vacuum Cleaner”, www.friendlyrobotics.com/vac.htm. 5 pages, Apr. 20, 2005. |
Fuentes, et al. “Mobile Robotics 1994”, University of Rochester. Computer Science Department, TR 588, 44 pages, Dec. 7, 1994. |
Bison, P et al., “Using a structured beacon for cooperative position estimation” Robotics and Autonomous Systems vol. 29, No. 1, pp. 33-40, Oct. 1999. |
Fukuda, et al. “Navigation System based on Ceiling Landmark Recognition for Autonomous mobile robot”, 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems 95. ‘Human Robot Interaction and Cooperative Robots’, Pittsburgh, PA, pp. 1466/1471, Aug. 5-9, 1995. |
Gionis “A hand-held optical surface scanner for environmental Modeling and Virtual Reality”, Virtual Reality World, 16 pages 1996. |
Goncalves et al. “A Visual Front-End for Simultaneous Localization and Mapping”, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 44-49. Apr. 2005. |
Gregg et al. “Autonomous Lawn Care Applications”, 2006 Florida Conference on Recent Advances in Robotics, FCRAR 2006, pp. 1-5, May 25-26, 2006. |
Hamamatsu “SI PIN Diode S5980, S5981 S5870—Multi-element photodiodes for surface mounting”, Hamatsu Photonics, 2 pages Apr. 2004. |
Hammacher Schlemmer “Electrolux Trilobite Robotic Vacuum” www.hammacher.com/publish/71579.asp?promo=xsells, 3 pages, Mar. 18, 2005. |
Haralick et al. “Pose Estimation from Corresponding Point Data”, IEEE Transactions on systems, Man, and Cybernetics, vol. 19, No. 6, pp. 1426-1446, Nov. 1989. |
Hausler “About the Scaling Behaviour of Optical Range Sensors”, Fringe '97, Proceedings of the 3rd International Workshop on Automatic Processing of Fringe Patterns, Bremen, Germany, pp. 147-155, Sep. 15-17, 1997. |
Blaasvaer, et al. “AMOR—An Autonomous Mobile Robot Navigation System”, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 2266-2271, 1994. |
Hoag, et al. “Navigation and Guidance in interstellar space”, ACTA Astronautica vol. 2, pp. 513-533, Feb. 14, 1975. |
Huntsberger et al. “CAMPOUT: A Control Architecture for Tightly Coupled Coordination of Multirobot Systems for Planetary Surface Exploration”, IEEE Transactions on Systems, Man, and Cybernetics—Part A: Systems and Humans, vol. 33, No. 5, pp. 550-559, Sep. 2003. |
Iirobotics.com “Samsung Unveils Its Multifunction Robot Vacuum”, www.iirobotics.com/webpages/hotstuff.php?ubre=111, 3 pages, Mar. 18, 2005. |
Jarosiewicz et al. “Final Report—Lucid”, University of Florida, Departmetn of Electrical and Computer Engineering, EEL 5666—Intelligent Machine Design Laboratory, 50 pages, Aug. 4, 1999. |
Jensfelt, et al. “Active Global Localization for a mobile robot using multiple hypothesis tracking”, IEEE Transactions on Robots and Automation vol. 17, No. 5, pp. 748-760. Oct. 2001. |
Jeong, et al. “An intelligent map-building system for indoor mobile robot using low cost photo sensors”, SPIE vol. 6042 6 pages, 2005. |
Kahney, “Robot Vacs are in the House,” www.wired.com/news/technology/o,1282,59237,00.html, 6 pages, Jun. 18, 2003. |
Karcher “Product Manual Download Karch”, www.karcher.com, 17 pages, 2004. |
Karcher “Karcher RoboCleaner RC 3000”, www.robocleaner.de/english/screen3.html, 4 pages, Dec. 12, 2003. |
Karcher USA “RC 3000 Robotics cleaner”, www.karcher-usa.com, 3 pages, Mar. 18, 2005. |
Karlsson et al., The vSLAM Algorithm for Robust Localization and Mapping, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 24-29, Apr. 2005. |
Karlsson, et al Core Technologies for service Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 3, pp. 2979-2984, Sep. 28-Oct. 2, 2004. |
King “Heplmate-TM—Autonomous mobile Robots Navigation Systems”, SPIE vol. 1388 Mobile Robots pp. 190-198, 1990. |
Kleinberg, The Localization Problem for Mobile Robots, Laboratory for Computer Science, Massachusetts Institute of Technology, 1994 IEEE, pp. 521-531, 1994. |
Knight, et al., “Localization and Identification of Visual Landmarks”, Journal of Computing Sciences in Colleges, vol. 16 Issue 4, 2001 pp. 312-313, May 2001. |
Kolodko et al. “Experimental System for Real-Time Motion Estimation”, Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), pp. 981-986, 2003. |
Komoriya et al., Planning Landmark Measurement for the Navigation of a Mobile Robot, Proceedings of the 1992 IEEE/RSJ International Cofnerence on Intelligent Robots and Systems, Raleigh, NC pp. 1476-1481, Jul. 7-10, 1992. |
Krotov, et al. “Digital Sextant”, Downloaded from the internet at: http://www.cs.cmu.edu/˜epk/, 1 page, 1995. |
Krupa et al. “Autonomous 3-D Positioning of Surgical Instruments in Robotized Laparoscopic Surgery Using Visual Servoing”, IEEE Transactions on Robotics and Automation, vol. 19, No. 5, pp. 842-853, Oct. 5, 2003. |
Kuhl, et al. “Self Localization in Environments using Visual Angles”, VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry, pp. 472-475, 2004. |
Kurth, “Range-Only Robot Localization and SLAM with Radio”, http://www.ri.cmu.edu/pub—files/pub4/kurth—derek—2004—1/kurth—derek—2004—1.pdf. 60 pages, May, 2004. |
Lambrinos, et al. “A mobile robot employing insect strategies for navigation”, http://www8.cs.umu.se/kurser/TDBD17/VT04/dl/Assignment%20Papers/lambrinos-RAS-2000.pdf, 38 pages, Feb. 19, 1999. |
Lang et al. “Visual Measurement of Orientation Using Ceiling Features”, 1994 IEEE, pp. 552-555, 1994. |
Lapin, “Adaptive position estimation for an automated guided vehicle”, SPIE vol. 1831 Mobile Robots VII, pp. 82-94, 1992. |
LaValle et al. “Robot Motion Planning in a Changing, Partially Predictable Environment”, 1994 IEEE International Symposium on Intelligent Control. Columbus, OH, pp. 261-266, Aug. 16-18, 1994. |
Lee, et al. “Localization Of a Mobile Robot Using the Image of a Moving Object”, IEEE Transaction on Industrial Electronics, vol. 50, No. 3 pp. 612-619, Jun. 2003. |
Lee, et al. “Development of Indoor Navigation system for Humanoid Robot Using Multi-sensors Integration”, ION NTM, San Diego, CA pp. 798-805, Jan. 22-24, 2007. |
Leonard, et al. “Mobile Robot Localization by tracking Geometric Beacons”, IEEE Transaction on Robotics and Automation, vol. 7, No. 3 pp. 376-382, Jun. 1991. |
Li et al. “Making a Local Map of Indoor Environments by Swiveling a Camera and a Sonar”, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 954-959, 1999. |
Lin, et al. “Mobile Robot Navigation Using Artificial Landmarks”, Journal of robotics System 14(2). pp. 93-106, 1997. |
Linde “Dissertation, On Aspects of Indoor Localization” https://eldorado.tu-dortmund.de/handle/2003/22854, University of Dortmund, 138 pages, Aug. 28, 2006. |
Lumelsky, et al. “An Algorithm for Maze Searching with Azimuth Input”, 1994 IEEE International Conference on Robotics and Automation, San Diego, CA vol. 1, pp. 111-116, 1994. |
Luo et al., “Real-time Area-Covering Operations with Obstacle Avoidance for Cleaning Robots,” 2002, IEeE, p. 2359-2364. |
Ma “Thesis: Documentation On Northstar”, California Institute of Technology, 14 pages, May 17, 2006. |
Madsen, et al. “Optimal landmark selection for triangulation of robot position”, Journal of Robotics and Autonomous Systems vol. 13 pp. 277-292, 1998. |
Matsutek Enterprises Co. Ltd “Automatic Rechargeable Vacuum Cleaner”, http://matsutek.manufacturer.globalsources.com/si/6008801427181/pdtl/Home-vacuum/10 . . . , Apr. 23, 2007. |
McGillem, et al. “Infra-red Lacation System for Navigation and Autonomous Vehicles”, 1988 IEEE International Conference on Robotics and Automation, vol. 2, pp. 1236-1238, Apr. 24-29, 1988. |
McGillem, et al. “A Beacon Navigation Method for Autonomous Vehicles”, IEEE Transactions on Vehicular Technology, vol. 38, No. 3, pp. 132-139, Aug. 1989. |
Michelson “Autonomous Navigation”, 2000 Yearbook of Science & Technology, McGraw-Hill, New York, ISBN 0-07-052771-7, pp. 28-30, 1999. |
Miro, et al. “Towards Vision Based Navigation in Large Indoor Environments”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 2096-2102, Oct. 9-15, 2006. |
MobileMag “Samsung Unveils High-tech Robot Vacuum Cleaner”, http://www.mobilemag.com/content/100/102/C2261/, 4 pages, Mar. 18, 2005. |
Monteiro, et al. “Visual Servoing for Fast Mobile Robot: Adaptive Estimation of Kinematic Parameters”, Proceedings of the IECON '93., International Conference on Industrial Electronics, Maui, HI, pp. 1588-1593, Nov. 15-19, 1993. |
Moore, et al. A simple Map-bases Localization strategy using range measurements. SPIE vol. 5804 pp. 612-620, 2005. |
Munich et al. “SIFT-ing Through Features with ViPR”, IEEE Robotics & Automation Magazine, pp. 72-77, Sep. 2006. |
Munich et al “ERSP: A Software Platform and Architecture for the Service Robotics Industry”, Intelligent Robots and Systems, 2005. (IROS 2005), pp. 460-467, Aug. 2-6, 2005. |
Nam, et al. “Real-Time Dynamic Visual Tracking Using PSD Sensors and extended Trapezoidal Motion Planning”, Applied Intelligence 10, pp. 53-70, 1999. |
Nitu et al. “Optomechatronic System for Position Detection of a Mobile Mini-Robot”, IEEE Ttransactions on Industrial Electronics, vol. 52, No. 4, pp. 969-973, Aug. 2005. |
On Robo “Robot Reviews Samsung Robot Vacuum (VC-RP30W)”, www.onrobo.com/reviews/AT—Home/vacuum—cleaners/on00vcrb30rosam/index.htm. 2 pages,. 2005. |
InMach “lntelligent Machines”, www.inmach.de/inside.html, 1 page, Nov. 19, 2008. |
Innovation First “2004 EDU Robot Controller Reference Guide”, http://www.ifirobotics.com, 13 pgs., Mar. 1, 2004. |
OnRobo “Samsung Unveils Its Multifunction Robot Vacuum”, www.onrobo.com/enews/0210/samsung—vacuum.shtml, 3 pages, Mar. 18, 2005. |
Pages et al. “Optimizing Plane-to-Plane Positioning Tasks by Image-Based Visual Servoing and Structured Light”, IEEE Transactions on Robotics, vol. 22, No. 5, pp. 1000-1010, Oct. 2006. |
Pages et al. “A camera-projector system for robot positioning by visual servoing”, Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW06), 8 pages, Jun. 17-22, 2006. |
Pages, et al. “Robust decoupled visual servoing based on structured light”, 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2676-2681, 2005. |
Park et al. “A Neural Network Based Real-Time Robot Tracking Controller Using Position Sensitive Detectors.” IEEE World Congress on Computational Intelligence., 1994 IEEE International Conference on Neutral Networks, Orlando, Florida pp. 2754-2758, Jun. 27-Jul. 2, 1994. |
Park, et al. “Dynamic Visual Servo Control of Robot Manipulators using Neutral Networks”, The Korean Institute Telematics and Electronics, vol. 29-B, No. 10. pp. 771-779, Oct. 1992. |
Paromtchik, et al. “Optical Guidance System for Multiple mobile Robots”, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, vol. 3, pp. 2935-2940 (May 21-26, 2001). |
Penna, et al. “Models for Map Building and Navigation”, IEEE Transactions on Systems. Man. And Cybernetics, vol. 23 No. 5, pp. 1276-1301, Sep./Oct. 1993. |
Pirjanian “Reliable Reaction”, Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 158-165, 1996. |
Pirjanian “Challenges for Standards for consumer Robotics”, IEEE Workshop on Advanced Robotics and its Social impacts, pp. 260-264, Jun. 12-15, 2005. |
Piranjian et al. “Distributed Control for a Modular, Reconfigurable Cliff Robot”, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, D.C. pp. 4083-4088, May 2002. |
Pirjanian et al. “Representation and Execution of Plan Sequences for Multi-Agent Systems”, Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, pp. 2117-2123, Oct. 29-Nov. 3, 2001. |
Pirjanian et al. “Multi-Robot Target Acquisition using Multiple Objective Behavior Coordination”, Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, CA, pp. 2696-2702, Apr. 2000. |
Pirjanian et al. “A decision-theoretic approach to fuzzy behavior coordination”, 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, 1999. CIRA '99., Monterey, CA, pp. 101-106, Nov. 8-9, 1999. |
Pirjanian et al. “Improving Task Reliability by Fusion of Redundant Homogeneous Modules Using Voting Schemes”, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 425-430, Apr. 1997. |
Prassler et al., “A Short History of Cleaning Robots”, Autonomous Robots 9, 211-226, 2000, 16 pages. |
Remazeilles, et al. “Image based robot navigation in 3D environments”, Proc. of SPIE, vol. 6052, pp. 1-14, Dec. 6, 2005. |
Rives, et al. “Visual servoing based on ellipse features”, SPIE vol. 2056 Intelligent Robots and Computer Vision pp. 356-367, 1993. |
Robotics World Jan. 2001: “A Clean Sweep” (Jan. 2001). |
Ronnback “On Methods for Assistive Mobile Robots”, http://www.openthesis.org/documents/methods-assistive-mobile-robots-595019.html, 218 pages, Jan. 1, 2006. |
Roth-Tabak, et al. “Environment Model for mobile Robots Indoor Navigation”, SPIE vol. 1388 Mobile Robots pp. 453-463, 1990. |
Sadath M Malik et al. “Virtual Prototyping for Conceptual Design of a Tracked Mobile Robot”. Electrical and Computer Engineering, Canadian Conference on, IEEE, PI. May 1, 2006, pp. 2349-2352. |
Sahin, et al. “Development of a Visual Object Localization Module for Mobile Robots”, 1999 Third European Workshop on Advanced Mobile Robots, (Eurobot '99), pp. 65-72, 1999. |
Salomon, et al. “Low-Cost Optical Indoor Localization system for Mobile Objects without Image Processing”, IEEE Conference on Emerging Technologies and Factory Automation, 2006. (ETFA '06), pp. 629-632. Sep. 20-22, 2006. |
Sato “Range Imaging Based on Moving Pattern Light and Spatio-Temporal Matched Filter”, Proceedings International Conference on Image Processing, vol. 1., Lausanne, Switzerland. pp. 33-36, Sep. 16-19, 1996. |
Schenker, et al. “Lightweight rovers for Mars science exploration and sample return”, Intelligent Robots and Computer Vision XVI, SPIE Proc. 3208, pp. 24-36, 1997. |
Shimoga et al. “Touch and Force Reflection for Telepresence Surgery”, Engineering in Medicine and Biology Society, 1994. Engineering Advances: New Opportunities for Biomedical Engineers. Proceedings of the 16th Annual International Conference of the IEEE, Baltimore, MD, pp. 1049-1050, 1994. |
Sim, et al “Learning Visual Landmarks for Pose Estimation”, IEEE International Conference on Robotics and Automation, vol. 3, Detroit, MI, pp. 1972-1978, May 10-15, 1999. |
Sobh et al. “Case Studies in Web-Controlled Devices and Remote Manipulation”, Automation Congress, 2002 Proceedings of the 5th Biannual World, pp. 435-440, Dec. 10, 2002. |
Stella, et al. “Self-Location for Indoor Navigation of Autonomous Vehicles”, Part of the SPIE conference on Enhanced and Synthetic Vision SPIE vol. 3364 pp. 298-302, 1998. |
Summet “Tracking Locations of Moving Hand-held Displays Using Projected Light”, Pervasive 2005, LNCS 3468 pp. 37-46 (2005). |
Svedman et al. “Structure from Stereo Vision using Unsynchronized Cameras for Simultaneous Localization and Mapping”, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2993-2998, 2005. |
Takio et al. “Real-Time Position and Pose Tracking Method of Moving Object Using Visual Servo System”, 47th IEEE International Symposium on Circuits and Systems, pp. 167-170, 2004. |
Teller “Pervasive pose awareness for people, Objects and Robots”, http://www.ai.mit.edu/lab/dangerous-ideas/Spring2003/teller-pose.pdf, 6 pages, Apr. 30, 2003. |
Terada et al. “An Acquisition of the Relation between Vision and Action using Self-Organizing Map and Reinforcement Learning”, 1998 Second International Conference on Knowledge-Based Intelligent Electronic Systems, Adelaide, Australiam pp. 429-434, Apr. 21-23, 1998. |
The Sharper Image “Robotic Vacuum Cleaner—Blue” www.Sharperimage.com, 2 pages, Mar. 18, 2005. |
The Sharper Image “E Vac Robotic Vacuum”, www.sharperiamge.com/us/en/templates/products/pipmorework1printable.jhtml, 2 pages, Mar. 18, 2005. |
TheRobotStore.com “Friendly Robotics Vacuum RV400—The Robot Store”, www.therobotstore.com/s.nl/sc.9/category.-109/it.A/id.43/.f, 1 page, Apr. 20, 2005. |
TotalVac.com RC3000 RoboCleaner website Mar. 18, 2005. |
Trebi-Ollennu et al. “Mars Rover Pair Cooperatively Transporting a Long Payload”, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, D.C. pp. 3136-3141, May 2002. |
Tribelhom et al., “Evaluating the Roomba: A low-cost, ubiquitous platform for robotics research and education,” 2007, IEEE, p. 1393-1399. |
Tse et al. “Design of a Navigation System for a Household Mobile Robot Using Neural Networks”, Department of Manufacturing Engg. & Engg. Management, City University of Hong Kong, pp. 2151-2156, 1998. |
UAMA (Asia) Industrial Co., Ltd. “RobotFamily”, 2005. |
Watanabe et al. “Position Estimation of Mobile Robots With Internal and External Sensors Using Uncertainty Evolution Technique”, 1990 IEEE International Conference on Robotics and Automation, Cincinnati, OH, pp. 2011-2016, May 13-18, 1990. |
Watts “Robot, boldly goes where no man can”, The Times—pp. 20, Jan. 1985. |
Wijk at al. “Triangulation-Based Fusion of Sonar Data with Application in Robot Pose Tracking ”, IEEE Transactions on Robotics and Automation, vol. 16, No. 6, pp. 740-752, Dec. 2000. |
Wolf et al. “Robust Vision-based Localization for Mobile Robots Using an Image Retrieval System Based on Invariant Features”, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, D.C. pp. 359-365, May 2002. |
Wolf et al. “Robust Vision-Based Localization by Combining an Image-Retrieval System with Monte Carol Localization”, IEEE Transactions on Robotics. vol. 21. No. 2. pp. 208-216, Apr. 2005. |
Wong “EIED Online>> Robot Business”, ED Online ID# 13114, 17 pages, Jul. 2006. |
Yamamoto et al. “Optical Sensing for Robot Perception and Localization”, 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, pp. 14-17, 2005. |
Yata et al. “Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer”, Proceedings of the 1998 IEEE, International Conference on Robotics & Automation, Leuven, Belgium, pp. 1590-1596, May 1998. |
Yun, et al. “Image-Based Absolute Positioning System for Mobile Robot Navigation”, IAPR International Workshops SSPR, Hong Kong, pp. 261-269, Aug. 17-19, 2006. |
Yun, et al. “Robust Positioning a Mobile Robot with Active Beacon Sensors”, Lecture Notes in Computer Science, 2006, vol. 4251, pp. 890-897, 2006. |
Yuta, et al. “Implementation of an Active Optical Range sensor Using Laser Slit for In-Door Intelligent Mobile Robot”, IEE/RSJ International workshop on Intelligent Robots and systems (IROS 91) vol. 1, Osaka, Japan, pp. 415-420, Nov. 3-5, 1991. |
Zha et al. “Mobile Robot Localization Using Incomplete Maps for Change Detection in a Dynamic Environment”, Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference, pp. 110, Jun. 16-20, 1997. |
Zhang, et al. “A Novel Mobile Robot Localization Based on Vision”, SPIE vol. 6279, 6 pages, Jan. 29, 2007. |
Roboking—not just a vacuum cleaner, a robot! Jan. 21, 2004, 5 pages. |
Popco.net Make your digital life http://www.popco.net/zboard/view.php?id=tr—review&no=40 accessed Nov. 1, 2011. |
Matsumura Camera Online Shop http://www.rakuten.co.jp/matsucame/587179/711512/ accessed Nov. 1, 2011. |
Dyson's Robot Vacuum Cleaner—the DC06, May 2, 2004 http://www.gizmag.com/go/1282/ accessed Nov. 11, 2011. |
Electrolux Trilobite, Time to enjoy life, 38 pages http://www.robocon.co.kr/trilobite/Presentation—Trilobite—Kor—030104. ppt accessed Dec. 22, 2011. |
Facts on the Trilobite http://www.frc.ri.cmu.edu/˜hpm/talks/Extras/trilobite.desc.html 2 pages accessed Nov. 1, 2011. |
Euroflex Jan. 1, 2006 http://www.euroflex.tv/novita—dett.php?id=15 1 page accessed Nov. 1, 2011. |
Friendly Robotics, 18 pages http://www.robotsandrelax.com/PDFs/RV400Manual.pdf accessed Dec. 22, 2011. |
It's eye, 2003 www.hitachi.co.jp/rd/pdf/topics/hitac2003—10.pdf 2 pages. |
Hitachi, May 29, 2003 http://www.hitachi.co.jp/New/cnews/hl—030529—hl—030529.pdf 8 pages. |
Robot Buying Guide, LG announces the first robotic vacuum cleaner for Korea, Apr. 21, 2003 http://robotbg.com/news/2003/04/22/lg—announces—the—first—robotic—vacu. |
UBOT, cleaning robot capable of wiping with a wet duster, http://us.aving.net/news/view.php?articleId=23031, 4 pages accessed Nov. 1, 2011. |
Taipei Times, Robotic vacuum by Matsuhita about ot undergo testing, Mar. 26, 2002 http://www.taipeitimes.com/News/worldbiz/archives/2002/03/26/0000129338 accessed. |
Tech-on! http://techon.nikkeibp.co.jp/members/01db/200203/1006501/, 4 pages, accessed Nov. 1, 2011. |
IT media http://www.itmedia.co.jp/news/0111/16/robofesta—m.html accessed Nov. 1, 2011. |
Yujin Robotics, an intelligent cleaning robot ‘iclebo Q’ AVING USA http://us.aving.net/news/view.php?articleld=7257, 8 pages accessed Nov. 4, 2011. |
Special Reports, Vacuum Cleaner Robot Operated in Conjunction with 3G Celluar Phone vol. 59, No. 9 (2004) 3 pages http://www.toshiba.co.jp/tech/review/2004/09/59—0. |
Toshiba Corporation 2003, http://warp.ndl.go.jp/info:ndljp/pid/25815/www.soumu.go.jp/joho—tsusin/policyreports/chousa/netrobot/pdf/030214—1—33—a.pdf 16 pages. |
http://www.karcher.de/versions/intg/assets/video/2—4—robo—en.swf. Accessed Sep. 25, 2009. |
McLurkin “The Ants: A community of Microrobots”, Paper submitted for requirements of BSEE at MIT, May 12, 1995. |
Grumet “Robots Clean House”, Popular Mechanics, Nov. 2003. |
McLurkin Stupid Robot Tricks: A Behavior-based Distributed Algorithm Library for Programming Swarms of Robots, Paper submitted for requirements of BSEE at MIT, May 2004. |
Kurs et al, Wireless Power transfer via Strongly Coupled Magnetic Resonances, Downloaded from www.sciencemag.org, Aug. 17, 2007. |
Hitachi “Feature”, http://kadenfan.hitachi.co.jp/robot/feature/feature.html, 1 page Nov. 19, 2008. |
Andersen et al., “Landmark based navigation strategies”, SPIE Conference on Mobile Robots XIII, SPIE vol. 3525, pp. 170-181, Jan. 8, 1999. |
Ascii, Mar. 25, 2002, http://ascii.jp/elem/000/000/330/330024/ accessed Nov. 1, 2011. |
Electrolux Trilobite, Jan. 12, 2001, http://www.electrolux-ui.com:8080/2002%5C822%5C833102EN.pdf, accessed Jul. 2, 2012, 10 pages. |
Li et al. “Robust Statistical Methods for Securing Wireless Localization in Sensor Networks,” Information Procesing in Sensor Networks, 2005, Fourth International Symposium on, pp. 91-98, Apr. 2005. |
Martishevcky, “The Accuracy of point light target coordinate determination by dissectoral tracking system”, SPIE vol. 2591, pp. 25-30, Oct. 23, 2005. |
Maschinemarkt Würzburg 105, Nr. 27, pp. 3, 30, Jul. 5, 1999. |
Paromtchik “Toward Optical Guidance of Mobile Robots,” Proceedings of the Fourth World Multiconference on Systemics, Cybermetics and Informatics, Orlando, FL, USA, Jul. 23, 2000, vol. IX, pp. 44-49, available at http://emotion.inrialpes.fr/˜paromt/infos/papers/paromtchik:asama:sci:2000.ps.gz, accessed Jul. 3, 2012. |
Sebastian Thrun, “Learning Occupancy Grid Maps With Forward Sensor Models,” Autonomous Robots 15, 111-127, Sep. 1, 2003. |
SVET Computers—New Technologies—Robot Vacuum Cleaner, Oct. 1999, available at http://www.sk.rs/1999/10/sknt0l.html, accessed Nov. 1, 2011. |
U.S. Appl. No. 60/605,066 as provided to WIPO in PCT/US2005/030422, corresponding to U.S. Appl. No. 11/574,290, U.S. publication 2008/0184518, filed Aug. 27, 2004. |
U.S. Appl. No. 60/605,181 as provided to WIPO in PCT/US2005/030422, corresponding to U.S. Appl. No. 11/574,290, U.S. publication 2008/0184518, filed Aug. 27, 2004. |
Derek Kurth, “Range-Only Robot Localization and SLAM with Radio”, http://www.ri.cmu.edu/pub—files/pub4/kurth—derek—2004—1/kurth—derek—2004—1.pdf. 60 pages, May, 2004, accessed Jul. 27, 2012. |
Florbot GE Plastics, 1989-1990, 2 pages, available at http://www.fuseid.com/, accessed Sep. 27, 2012. |
Gregg et al., “Autonomous Lawn Care Applications,” 2006 Florida Conference on Recent Advances in Robotics, Miami, Florida, May 25-26, 2006, Florida International University, 5 pages. |
Hitachi 'Feature', http://kadenfan.hitachi.co.jp/robot/feature/feature.html, 1 page, Nov. 19, 2008. |
Hitachi, http://www.hitachi.co.jp/New/cnews/hi—030529—hi—030529.pdf , 8 pages, May 29, 2003. |
Home Robot—UBOT; Microbotusa.com, retrieved from the WWW at www.microrobotusa.com, accessed Dec. 2, 2008. |
King and Weiman, “Helpmate™ Autonomous Mobile Robots Navigation Systems,” SPIE vol. 1388 Mobile Robots, pp. 190-198 (1990). |
Miwako Doi “Using the symbiosis of human and robots from approaching Research and Development Center,” Toshiba Corporation, 16 pages, available at http://warp.ndl.go.jp/info:ndljp/pid/258151/www.soumu.go.jp/joho—tsusin/policyreports/chousa/netrobot/pdf/030214—1—33—a.pdf, Feb. 26, 2003. |
Roboking—not just a vacuum cleaner, a robot!, Jan. 21, 2004, infocom.uz/2004/01/21/robokingne-prosto-pyilesos-a-robot/, accessed Oct. 10, 2011, 7 pages. |
Written Opinion of the International Searching Authority, PCT/US2004/001504, Aug. 20, 2012, 9 pages. |
Number | Date | Country | |
---|---|---|---|
20070267998 A1 | Nov 2007 | US |
Number | Date | Country | |
---|---|---|---|
Parent | 10762219 | Jan 2004 | US |
Child | 11834575 | US |