1. An automatic machine comprising:
an output unit;
a storage unit for storing a motion pattern, the motion pattern being corresponding to a command and recording N predetermined motion information and N time tags, N being a positive integer larger than one, each of the N predetermined motion information being corresponding to one of the N time tags; and
a control unit electrically connected to the output unit and the storage unit, the control unit receiving the command, reading a current motion information of the output unit, looking the motion pattern up in the storage unit according to the command and the current motion information, determining that the current motion information is between an i-th predetermined motion information and an (i+1)-th predetermined motion information of the N predetermined motion information, calculating a time adjusting information by the (i+1)-th predetermined motion information, an (i+1)-th time tag of the N time tags, which is corresponding to the (i+1)-th predetermined motion information, and the current motion information, and controlling the output unit to execute the (i+1)-th predetermined motion information according to the current motion information, a first time tag through an i-th time tag of the N time tags, and the time adjusting information, i being a positive integer smaller than or equal to N\u22121.
2. The automatic machine of claim 1, wherein the output unit is a motor, and each of the N predetermined motion information and the current motion information are a motor angle respectively.
3. The automatic machine of claim 1, wherein each of the N time tags and the time adjusting information are a motion time respectively.
4. The automatic machine of claim 1, wherein the output unit is a motor and the control unit calculates the time adjusting information by an equation as follows:
T
\u2032
=
T
i
+
1
–
M
i
+
1
–
M
\u2032
S
;
wherein T\u2032 represents the time adjusting information, Ti+1 represents the (i+1)-th time tag, Mi+1 represents the (i+1)-th predetermined motion information, M\u2032 represents the current motion information, and S represents a rotational speed of the motor.
5. The automatic machine of claim 1, wherein the motion pattern comprises a header and N motion frames, the header records a number of the motion frames, and each of the N motion frames records one of the N predetermined motion information and one of the N time tags.
6. The automatic machine of claim 5, wherein the output unit is a motor, the header further records a motion trend, the motion trend represents a rotational direction of the motor, the control unit determines that the current motion information is between the i-th predetermined motion information and the (i+1)-th predetermined motion information according to the motion trend.
7. A method for controlling an automatic machine, the automatic machine comprising an output unit and a storage unit, the method comprising:
receiving a command;
reading a current motion information of the output unit;
looking a motion pattern up in the storage unit according to the command and the current motion information, the motion pattern recording N predetermined motion information and N time tags, N being a positive integer larger than one, each of the N predetermined motion information being corresponding to one of the N time tags;
determining that the current motion information is between an i-th predetermined motion information and an (i+1)-th predetermined motion information of the N predetermined motion information, i being a positive integer smaller than or equal to N\u22121;
calculating a time adjusting information by the (i+1)-th predetermined motion information, an (i+1)-th time tag of the N time tags, which is corresponding to the (i+1)-th predetermined motion information, and the current motion information; and
controlling the output unit to execute the (i+1)-th predetermined motion information according to the current motion information, a first time tag through an i-th time tag of the N time tags, and the time adjusting information.
8. The method of claim 7, wherein the output unit is a motor, and each of the N predetermined motion information and the current motion information are a motor angle respectively.
9. The method of claim 7, wherein each of the N time tags and the time adjusting information are a motion time respectively.
10. The method of claim 7, wherein the output unit is a motor and the method further comprising:
calculating the time adjusting information by an equation as follows:
T
\u2032
=
T
i
+
1
–
M
i
+
1
–
M
\u2032
S
;
wherein T\u2032 represents the time adjusting information, Ti+1 represents the (i+1)-th time tag, Mi+1 represents the (i+1)-th predetermined motion information, M\u2032 represents the current motion information, and S represents a rotational speed of the motor.
11. The method of claim 7, wherein the motion pattern comprises a header and N motion frames, the header records a number of the motion frames, and each of the N motion frames records one of the N predetermined motion information and one of the N time tags.
12. The method of claim 11, wherein the output unit is a motor, the header further records a motion trend, the motion trend represents a rotational direction of the motor, the method further comprising:
determining that the current motion information is between the i-th predetermined motion information and the (i+1)-th predetermined motion information according to the motion trend.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An infant support apparatus for supporting an infant lying stomach-down, comprising:
a main body having a predetermined width, a predetermined length that extends from a front to a back, and a thickness that varies along said predetermined length, said main body having a top surface that includes
a first substantially planar surface portion substantially oriented at a first positive slope with respect to a lengthwise direction of said main body from said front to said back,
a second substantially planar surface portion substantially oriented at a negative slope with respect to the lengthwise direction of said main body, and
a third substantially planar surface portion substantially oriented at a second positive slope with respect to the lengthwise direction of said main body, wherein
said first substantially planar surface portion, said second substantially planar surface portion and said third substantially planar surface portion being positioned in order from said front to said back such that said first surface portion being arranged to support a head of said infant, and said second surface portion being positioned to support at least a torso of said infant, and said third surface portion being positioned to support legs of said infant,
an average thickness of said main body under said first substantially planar surface portion being greater than that for said third substantially planar surface portion,
a length of said second substantially planar surface portion being greater than a length of said first substantially planar surface portion, and a length of said third substantially planar surface portion.
2. The infant support apparatus of claim 1, wherein said main body comprising a molded foam core.
3. The main body of claim 2, wherein:
said main body is made of at least one of a fire-resistant material and a fire retardant material.
4. The infant support apparatus of claim 2, further comprising:
at least one fabric loop on said molded foam core to detachably attach infant toys.
5. The infant support apparatus of claim 2, further comprising:
at least one hook and loop fabric strip on said molded foam core to detachably attach an infant toy.
6. The infant support apparatus of claim 2, further comprising:
a retractable guard configured to extend above said top surface on one side of said molded foam core.
7. The infant support apparatus of claim 6, wherein:
said retractable guard being at least one of a mesh guard and a fence guard.
8. The infant support apparatus of claim 1, further comprising:
a detatchably attached cloth cover adapted to fit over said top surface.
9. The detatchably attached cloth cover of claim 8, wherein:
said detatchably attached cloth cover is at least one of a man-made washable material and a fire retardant material.
10. The infant support apparatus of claim 8, wherein:
said detatchably attached cloth cover has a water-resistant layer so as to make said detachably attached cloth cover suitable for use as a changing pad.
11. The infant support apparatus of claim 1, further comprising:
a secondary support disposed on a bottom of said main body, said secondary support including a material more rigid than that of the main body, and having a top surface that is substantially planar.
12. The infant support apparatus of claim 11, wherein said secondary support is shaped to conform to a person’s lap when holding the infant support thereon.
13. The infant support apparatus of claim 12, wherein a shape of a bottom surface of said secondary support contains a valley portion that is configured to substantially conform to an upper portion of a leg of said person’s lap.
14. The infant support apparatus of claim 13, wherein the shape of the bottom surface of said secondary support contains another valley portion that is configured to substantially conform to another leg of said person’s lap.
15. The infant support apparatus of claim 12, wherein said secondary support includes a bag containing a plurality of pieces of material.
16. The infant support apparatus of claim 15, wherein said bag being a bean bag.
17. The infant support apparatus of claim 11, wherein a shape of said secondary support is configured to conform to an underlying surface.
18. The infant support apparatus of claim 17, wherein a bottom portion of said secondary support includes a bag containing a plurality of pieces of material.
19. The infant support apparatus of claim 18, wherein said bag being a bean bag.
20. The infant support apparatus of claim 11, further comprising:
an extension platform that protrudes beyond a front edge of said main body.
21. The infant support apparatus of claim 20, wherein:
said extension platform includes a rigid material able to support at least a one pound object.
22. The infant support apparatus of claim 11, wherein:
said secondary support is detachably attached to said main body.
23. The infant support of apparatus claim 1, wherein:
said second substantially planar surface portion comprising at least one restraining strap configured to hold said infant.
24. The infant support apparatus of claim 1, further comprising:
at least one pouch on said main body.
25. The infant support apparatus of claim 1, further comprising:
a variable heating mechanism.
26. The infant support apparatus of claim 1, further comprising:
a variable vibrating mechanism.
27. The infant support apparatus of claim 1, further comprising:
an audio transducer.