Author: claimsbot

1. A motion determination system for determining motion of a machine, the system comprising:
one or more memories storing instructions; and
one or more processors configured to execute the instructions to perform operations, including:
receiving a first camera image and a second camera image from a camera affixed to the machine, wherein the first camera image is received earlier in time than the second camera image;
identifying corresponding features in the first camera image and the second camera image;
receiving range data, wherein the range data comprises at least one of a first range data and a second range data from a range detection unit affixed to the machine, and the first range data and the second range data correspond to the first camera image and the second camera image, respectively;
determining first positions of the corresponding features using the first camera image and determining second positions of the corresponding features using the second camera image, wherein the first positions or the second positions are determined by also using the range data;
determining a change in position of the machine based on differences between the first positions and the second positions; and
determining a VO-based velocity of the machine based on the determined change in position of the machine,

wherein the range data comprises the first range data and the second range data, and the one or more processors are further configured to execute the instructions to perform:
determining a range-based velocity of the machine based on changes between the first range data and the second range data; and
fusing the range-based velocity with the VO-based velocity to generate a fused-VO velocity.
2. The system of claim 1, wherein:
the range data includes the first range data and the second range data;
the first positions are determined based on both the first camera image and the first range data; and
the second positions are determined based on both the second camera image and the second range data.
3. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to perform:
generate the fused-VO velocity based on a weighted average of the range-based velocity and the VO-based velocity, wherein the weighted average is based on uncertainty measures for the range-based velocity and the VO-based velocity.
4. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to perform:
generate the fused-VO velocity based on an output of a Kalman filter, by:
utilizing the VO-based velocity in a propagation stage of the Kalman filter, and
utilizing the range-based velocity in a measurement update stage of the Kalman filter.
5. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to perform:
fusing the range-based velocity and the VO-based velocity based on both velocities being valid, wherein the velocities are valid when associated uncertainty measures are below a predetermined threshold.
6. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to perform:
receiving one or more IMU measurement from an IMU affixed to the machine;
determining one or more IMU-derived measurements derived from one or more IMU measurements; and
fusing at least one of the IMU measurements or at least one of the IMU-derived measurements with either the fused-VO velocity or a measurement derived from the fused-VO velocity to generate a fused-VO-IMU measurement.
7. The system of claim 6, wherein the one or more processors are further configured to execute the instructions to perform:
generating the fused-VO-IMU measurement based on a weighted average, wherein the weighted average is determined based on an uncertainty measure for each measurement that is being fused.
8. The system of 6, wherein:
the fusion to generate a fused-VO-IMU measurement occurs when each measurement that is being fused is valid, wherein each measurement is valid when associated uncertainty measures are below a predetermined threshold.
9. The system of claim 6, wherein the one or more processors are further configured to execute the instructions to perform:
fusing one or more derived measurements with one or more direct measurements to output the position of the machine using a Kalman filter, wherein
one or more derived measurements comprises the fused-VO-IMU measurement,
one or more direct measurements comprises an IMU measurement, the fused-VO velocity, or a relative measurement based on a key frame image obtained by at least one of the camera and the range detection device,
the one or more derived measurements are used in a propagation phase of the Kalman filter, and
the one or more direct measurements are used in a measurement update phase of the Kalman filter.
10. The system of claim 1, wherein the one or more processors are further configured to execute the instructions to perform:
correcting an IMU bias by utilizing a Kalman filter,
wherein an IMU-derived measurement derived from an IMU measurement is utilized in a propagation phase of the Kalman filter, and
a relative measurement based on a key frame image obtained by at least one of the camera and the range detection device is utilized in a measurement update phase of the Kalman filter.
11. A computer-implemented method for determining motion of a machine, the method comprising:
receiving, by one or more computer processors, a first camera image and a second camera image from a camera affixed to the machine, wherein the first camera image is received earlier in time than the second camera image;
identifying, by the one or more computer processors, corresponding features in the first camera image and the second camera image;
receiving, by the one or more computer processors, range data, wherein the range data comprises a first range data and a second range data from a range detection unit affixed to the machine, and the first range data and the second range data correspond to the first camera image and the second camera image, respectively;
determining first positions of the corresponding features using the first camera image and determining second positions of the corresponding features using the second camera image, wherein the first positions or the second positions are determined by also using the range data;
determining, by the one or more computer processors, a change in position of the machine based on differences between the first positions and the second positions; and
determining, by the one or more computer processors, a VO-based velocity of the machine based on the determined change in position of the machine;
wherein the range data comprises the first range data and the second range data, further including:
determining a range-based velocity of the machine based on changes between the first range data and the second range data; and
fusing the range-based velocity with the VO-based velocity to generate a fused-VO velocity, wherein
the fused-VO velocity is generated based on a weighted average of the range-based velocity and the VO-based velocity, and the weighted average is based on uncertainty measures for the range-based velocity and the VO-based velocity, or
the fused-VO velocity is generated based on an output of a Kalman filter, by:
utilizing the VO-based velocity in a propagation stage of the Kalman filter, and
utilizing the range-based velocity in a measurement update stage of the Kalman filter.
12. The method of claim 11, wherein:
the range data includes the first range data and the second range data;
the first positions are determined based on both the first camera image and the first range data; and
the second positions are determined based on both the second camera image and the second range data.
13. The method of claim 11, further including:
receiving one or more IMU measurement from an IMU affixed to the machine;
determining one or more IMU-derived measurements derived from one or more IMU measurements; and
fusing at least one of the IMU measurements or at least one of the IMU-derived measurements with either the fused-VO velocity or a measurement derived from the fused-VO velocity to generate a fused-VO-IMU measurement, wherein
the fused-VO-IMU measurement is based on a weighted average, wherein the weighted average is determined based on an uncertainty measure for each measurement that is being fused.
14. The method of claim 13, further including:
fusing one or more derived measurements with one or more direct measurements to output the position of the machine using a Kalman filter, wherein
one or more derived measurements comprises the fused-VO-IMU measurement,
one or more direct measurements comprises an IMU measurement, the fused-VO velocity, or a relative measurement based on a key frame image obtained by at least one of the camera and the range detection device,
the one or more derived measurements are used in a propagation phase of the Kalman filter, and
the one or more direct measurements are used in a measurement update phase of the Kalman filter.
15. The method of claim 11, further including:
correcting an IMU bias utilizing a Kalman filter,
wherein an IMU-derived measurement derived from an IMU measurement is utilized in a propagation phase of the Kalman filter, and
a relative measurement based on a key frame image obtained by at least one of the camera and the range detection device is utilized in a measurement update phase of the Kalman filter.
16. The method of claim 11, wherein:
the range-based velocity and the VO-based velocity are fused based on both velocities being valid, wherein the velocities are valid when associated uncertainty measures are below a predetermined threshold.
17. The method of claim 13, wherein:
the fusion to generate the fused-VO-IMU measurement occurs when each measurement that is being fused is valid, wherein each measurement is valid when associated uncertainty measures are below a predetermined threshold.
18. A machine, comprising:
a camera affixed to the machine;
a range detection unit affixed to the machine; and
a controller in communication with the camera and the range detection unit, configured to:
receive a first camera image and a second camera image from the camera, wherein the first camera image is received earlier in time than the second camera image;
identify corresponding features in the first camera image and the second camera image;
receive range data, wherein the range data comprises at least one of a first range data and a second range data from the range detection unit, and the first range data and the second range data corresponding to the first camera image and the second camera image, respectively,
determine first positions of the corresponding features using the first camera image and determine second positions of the corresponding features using the second camera image, wherein the first positions or the second positions are determined by also using the range data;
determine a change in position of the machine based on differences between the first positions and the second positions;
determine a VO-based velocity of the machine based on the determined change in position of the machine;

wherein the range data comprises the first range data and the second range data, and the controller is further configured to:
determine a range-based velocity of the machine based on differences between the first range data and the second range data; and
fuse the range-based velocity with the VO-based velocity to generate a fused-VO velocity, wherein
the fused-VO velocity is generated based on a weighted average of the range-based velocity and the VO-based velocity, wherein the weighted average is determined based on uncertainty measures for the range-based velocity and the VO-based velocity, or
the fused-VO velocity is generated based on an output of a Kalman filter, by:
utilizing the VO-based velocity in a propagation stage of the Kalman filter, and
utilizing the range-based velocity in a measurement update stage of the Kalman filter.
19. The machine of claim 18, wherein:
the range data includes the first range data and the second range data;
the first positions are determined based on both the first camera image and the first range data; and
the second positions are determined based on both the second camera image and the second range data.
20. The machine of claim 18, wherein the controller is further configured to:
receive one or more IMU measurement from an IMU affixed to the machine;
determine one or more IMU-derived measurement derived from one or more IMU measurements; and
fuse an IMU measurement or an IMU-derived measurement with either the fused-VO velocity or a measurement derived from the fused-VO velocity to generate a fused-VO-IMU measurement, wherein
the fused-VO-IMU measurement is generated based on a weighted average, and the weighted average is determined based on an uncertainty measure for each measurement that is being fused.

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 apparatus for controlling a key input of a portable terminal, comprising:
a gesture recognizing unit which detects whether or not an input of a touch event generated on a screen corresponds to a predetermined gesture;
a gesture area identifying unit which identifies a predetermined area where the input of the touch event corresponding to the predetermined gesture is generated; and
a key input recognizing unit which recognizes a hardware key assigned to the predetermined area and performs an operation corresponding to an input of the recognized hardware key.
2. The apparatus of claim 1, wherein the gesture recognizing unit identifies a drag input of the touch event having a predetermined first length or longer as the predetermined gesture.
3. The apparatus of claim 1, wherein the gesture recognizing unit identifies a drag input, which has a predetermined second length or longer and is dragged to an area to which the hardware key is assigned, as the predetermined gesture.
4. The apparatus of claim 1, wherein the gesture recognizing unit identifies a drag input, which has a predetermined second length or longer and is dragged from an area to which the hardware key is assigned, as the predetermined gesture.
5. The apparatus of claim 1, wherein the predetermined area corresponds to one of regions divided along a lengthwise direction of a screen.
6. The apparatus of claim 1, wherein a portion of the predetermined gesture is dragged outside of the screen.
7. The apparatus of claim 1, wherein the predetermined area corresponds to an area which is assigned by dividing the screen by a total number of the hardware key.
8. The apparatus of claim 1, wherein the hardware key comprises a menu key, a home key, and a back key.
9. A method for controlling a key input of a portable terminal, comprising:
detecting whether or not an input of a touch event generated on a screen of the portable terminal corresponds to a predetermined gesture;
identifying a predetermined area where the input of the touch event corresponding to the predetermined gesture is generated;
recognizing a hardware key assigned to the identified predetermined area; and
performing an operation corresponding to an input of the recognized hardware key.
10. The method of claim 9, wherein the predetermined gesture corresponds to a drag input of the touch event having a predetermined first length or longer.
11. The method of claim 9, wherein the predetermined gesture corresponds to a drag input which has a predetermined second length or longer and is dragged to an area to which the hardware key is assigned.
12. The method of claim 9, wherein the predetermined gesture corresponds to a drag input which has a predetermined second length or longer, and is dragged from an area to which the hardware key is assigned.
13. The method of claim 9, wherein the predetermined area corresponds to one of regions divided along a lengthwise direction of a screen.
14. The method of claim 9, wherein the predetermined area corresponds to an area which is allotted by dividing lengthwise the screen with respect to the hardware key by the number corresponding to the hardware key.
15. The method of claim 9, wherein the hardware key comprises a menu key, a home key, and a back key.
16. The method of claim 8, wherein a portion of the predetermined gesture is dragged outside of the screen.
17. The method of claim 8, wherein the predetermined area corresponds to an area which is assigned by dividing the screen by a total number of the hardware key.

1. A process for preparing torsemide or salts thereof comprising:
a) reacting a compound of formula II
with isopropyl isocyanate in the presence of an alkali carbonate or bicarbonate and an organic solvent selected from the group consisting of ethyl acetate, acetonitrile, acetone, methyl isobutyl ketone and mixtures thereof to form an alkali torsemide mixture,
b) recovering the alkali torsemide mixture as a salt,
c) optionally recovering the torsemide by acidification of the alkali torsemide mixture;
d) wherein step a) is carried out in the absence of triethylamine and water.
2. A process for preparing a compound of formula II
comprising reacting a compound of formula I
with m-toluidine in an organic solvent selected from the group consisting of a C1 to C6 alcohol to form a compound of formula II
wherein said process is carried out in the absence of at least one of the following:
i) a copper catalyst; andor
ii) triethylamine.
3. A process for preparing a compound of formula II
comprising reacting a compound of formula I
with m-toluidine in an organic solvent selected from the group consisting of n-butanol to form a compound of formula II
wherein said process is carried out in the absence of at least one of the following:
i) a copper catalyst; andor
ii) triethylamine.
4. The process of claim 1 wherein the alkali carbonate is sodium carbonate, potassium carbonate, or lithium carbonate.
5. The process of claim 1 wherein the alkali bicarbonate is sodium bicarbonate, potassium bicarbonate, or lithium bicarbonate.
6. The process of claim 1 wherein the alkali torsemide mixture is converted to torsemide by dissolving in water followed by acidification.
7. The process of claim 1 wherein the acid used for acidification is a water soluble acid.
8. The process of claim 1 wherein the acid used for acidification is acetic acid.
9. The process of claim 1, 2 or 3 wherein the purity of the torsemide is at least about 99.5%.
10. The process of claim 1, 2 or 3 wherein the purity of torsemide is at least 98%.

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 adjustable support system for an operable partition including a plurality of wall panels supported by a track to divide a room into a smaller area, the support system comprising:
an adjustable length overhead truss including first and second end truss members and a center truss member movable relative to at least one of the first and second end truss members to adjust an overall length of the adjustable support system for the operable partition by changing a length of the overhead truss;
a first vertical support including a first end supported by a floor of the room and a second end coupled to the first end truss member;
a second vertical support including a first end supported by the floor of the room and a second end coupled to the second end truss member;
a track coupled to the adjustable length overhead truss; and
a plurality of wall panels coupled to the track, the plurality of wall panels being movable from a folded storage position to a deployed use position to form a wall under the adjustable length overhead truss.
2. The system of claim 1, wherein at least one of the first and second end truss members includes an open end configured to receive an end portion of the center truss member therein so that the center truss member is movable relative to at least one of the first and second end truss members to adjust the length of the overhead truss.
3. The system of claim 1, wherein the center truss member includes a plurality of modular truss sections coupled together to form the center truss member having a desired length.
4. The system of claim 3, wherein each modular truss section includes an I-beam assembly having first and second support plates located at opposite ends thereof to permit attachment of each modular truss section to an adjacent modular truss section.
5. The system of claim 4, wherein each I-beam assembly includes a center panel, a top panel, and a bottom panel extending between the first and second support plates to form the modular truss section.
6. The system of claim 5, wherein the bottom panel of each I-beam assembly is formed to include a plurality of apertures configured to receive fasteners to couple the track to the center truss member.
7. The system of claim 3, wherein each modular truss section includes a plurality of mounting blocks located adjacent the support plates and a plurality of spacers located between the mounting blocks and the support plates, the fastening blocks, spacers, and support plates being configured to receive a fastener therethrough to secure adjacent modular truss sections together to form the center truss member.
8. The system of claim 1, wherein each of the first and second end truss members includes an open end to provide access to an interior region of the first and second end truss members, the open ends of the first and second truss members being configured to receive opposite ends of the center truss member therein, the center truss member being movable within the interior regions of the first and second end truss members to adjust the length of the overhead truss.
9. The system of claim 1, wherein the first and second end truss members each include a coupling portion configured to couple the first and second end truss members to the first and second vertical supports, respectively.
10. The system of claim 1, wherein the first and second end truss members each include a brace support bracket configured to be coupled to at least one bracing member to provide additional support for the adjustable length overhead truss.
11. The system of claim 1, wherein the plurality of wall panels are located below a longitudinal axis of the adjustable length overhead truss when the plurality of wall panels are in the folded storage position.
12. The system of claim 1, wherein the plurality of wall panels are offset from a longitudinal axis of the adjustable length overhead truss when the plurality of wall panels are in the folded storage position.
13. The system of claim 11, wherein the first and second vertical supports each include a height adjustment mechanism configured to adjust the height of the adjustable length overhead truss.
14. The system of claim 13, wherein the height adjustment mechanisms include first and second adjustable foot portions coupled to the first and second vertical supports, respectively.
15. The system of claim 1, further comprising a third vertical support laterally spaced apart from the first vertical support, the third vertical support including a first end supported by a floor of the room and a second end coupled to the first vertical support and the first end truss member.
16. The system of claim 15, further comprising a plurality of support beams coupled between the first and third vertical supports and between the third vertical support and the first end truss section to provide lateral stability for the overhead truss.
17. The system of claim 15, wherein the first, second and third vertical supports each include a height adjustment mechanism configured to adjust the height of the adjustable length overhead truss.
18. The system of claim 17, wherein the height adjustment mechanisms include an adjustable foot portion coupled to each of the first, second and third vertical supports.
19. The system of claim 1, wherein the first and second end truss members are identically shaped.
20. A method for supporting an operable partition including a plurality of wall panels supported by a track to divide a room into a smaller area, the method comprising:
providing an adjustable length overhead truss including first and second end truss members and a center truss member movable relative to at least one of the first and second end truss members to adjust a length of the overhead truss;
adjusting a length of the overhead truss to a dimension of the room;
supporting the first end truss member with a first vertical support including a first end supported by a floor of the room and a second end coupled to the first end truss member;
supporting the second end truss member with a second vertical support including a first end supported by the floor of the room and a second end coupled to the second end truss member;
coupling a track to the adjustable length overhead truss;
coupling a plurality of wall panels to the track; and
moving the plurality of wall panels from a folded storage position to a deployed use position to form a wall under the adjustable length overhead truss.
21. The method of claim 20, wherein step of providing an adjustable length overhead truss comprises:
providing identically shaped first and second end truss members;
providing a plurality of identically shaped modular truss sections;
assembling a plurality of the modular truss sections to form the center truss member having a desired length; and
coupling the center truss member to the first and second end truss members.
22. The method of claim 21, wherein each of the first and second end truss members includes an open end to provide access to an interior region of each of the first and second end truss members, and wherein the step of coupling the center truss member to the first and second end truss members includes locating opposite ends of the center truss member in the interior regions of the first and second truss members.
23. The method of claim 22, wherein the step of adjusting a length of the overhead truss to a dimension of the room includes moving the opposite ends of the center truss member relative to the first and second end truss members in a telescoping manner.
24. The method of claim 20, further comprising adjusting a height of opposite ends of the adjustable length overhead truss using height adjustment mechanisms of the first and second vertical supports, respectively.
25. An adjustable support system for an operable partition including a plurality of wall panels supported by a track to divide a room into a smaller area, the support system comprising:
an adjustable length overhead truss including first and second end truss members and a center truss member movable relative to at least one of the first and second end truss members to adjust an overall length of the adjustable support system for the operable partition by changing a length of the overhead truss;
a first vertical support including a first end supported by a floor of the room and a second end coupled to the first end truss member;
a second vertical support including a first end supported by the floor of the room and a second end coupled to the second end truss member, the first and second vertical supports each including a height adjustment mechanism configured to adjust heights of the first and second end truss members independently to position the adjustable length overhead truss at a desired height within the room;
a track coupled to the adjustable length overhead truss; and
a plurality of wall panels coupled to the track, the plurality of wall panels being movable from a folded storage position to a deployed use position to form a wall under the adjustable length overhead truss.