Author: claimsbot

1. A method for exchanging batteries in battery-powered vehicles, comprising:
providing a robot for the transport of a battery to and from a vehicle respectively, the vehicle being provided with a horizontally-placed compartment configured to hold one or more batteries lying parallel to each other, the compartment being provided with a cover configured to be opened, and providing a transportation system configured to transport the battery into and out from said compartment,
the robot having a transport plane configured to be extended and withdrawn in one direction, the transport plane configured to be displaced along two mutually-perpendicular directions relative to the direction,
the vehicle being at a predetermined location relative to the robot at which the transport plane is located at the cover of the vehicle;

when the cover is opened, determining, by the robot using an optical device, the position of the battery in the compartment;
displacing, by the robot, the transport plane to a predetermined position relative to the battery, at which position the transport plane is extended;
attaching a withdrawal system belonging to the robot to the battery in the compartment, the withdrawal system being exchangeable, the withdrawal system including suction cups mounted onto drawbars, the suction cups being attached by suction to a surface of the battery facing the robot;
withdrawing the battery from the compartment by the withdrawal system such that the battery rests on the transport plane;
transporting the battery by the robot by the transport plane and subsequent transporters to a charging station;
transporting by the robot by one or more transporters, a charged battery from a store of charged batteries in the robot to the transport plane;
inserting, by a displacement system belonging to the robot, the battery into the compartment at a predetermined position; and
closing the cover.
2. The method according to claim 1, further comprising identifying, by the robot, the one or more batteries before extraction of the one or more batteries by a detection device.
3. The method according to claim 2, wherein the detection device is a scanning laser.
4. The method according to claim 3, wherein an identification of the battery occurs through a reading of a barcode on the surface of the battery that faces the robot.
5. The method according to claim 2, wherein the detection device is a video camera with associated image processing software.
6. The method according to claim 5, wherein an identification of the battery occurs through a reading of a barcode on the surface of the battery that faces the robot.
7. The method according to claim 2, wherein an identification of the battery occurs through a reading of a barcode on the surface of the battery that faces the robot.
8. The method according to claim 2, wherein the optical device is a video camera with associated image processing software.
9. The method according to claim 2, wherein the optical device is a scanning laser.
10. The method according to claim 1, wherein the optical device is a scanning laser.
11. The method according to claim 10, wherein the detection device is a scanning laser.
12. The method according to claim 10, wherein the detection device is a video camera with associated image processing software.
13. The method according to claim 10, wherein an identification of the battery occurs through a reading of a barcode on the surface of the battery that faces the robot.
14. The method according to claim 1, wherein the optical device is a video camera with associated image processing software.
15. The method according to claim 14, wherein an identification of the battery occurs through a reading of a barcode on the surface of the battery that faces the robot.
16. The method according to claim 1, wherein the battery, or each one of the one or more batteries, has or have protrusions or wheels that interact with guiderails located transversely across the longitudinal direction of the vehicle in the compartment in order to position the battery in the compartment.
17. The method according to claim 16, wherein the optical device determines positions of the guiderails and positions of the protrusions or wheels.
18. The method according to claim 1, wherein the displacement system comprises drawbars that are extended such that the drawbars insert the battery into the compartment.
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 exhaust apparatus provided in an engine having a plurality of cylinders arranged in a line, wherein the engine is transversely placed in an engine compartment at a front of a vehicle to allow a cylinder arrangement direction to be oriented in a vehicle-widthwise direction, and coupled with a transmission located on one side thereof in the cylinder arrangement direction, the exhaust apparatus comprising an upstream exhaust assembly connected to a surface of the engine on a vehicle-rear side, and a downstream exhaust pipe provided on an exhaust downstream side of the upstream exhaust assembly, wherein the upstream exhaust assembly includes:
a plurality of branch pipe portions communicated with respective ones of the plurality of cylinders and extending from the vehicle-rear-side surface of the engine toward the vehicle-rear side;
a single exhaust pipe portion provided on the exhaust downstream side of the plurality of branch pipe portions in such a manner that it is communicated with the branch pipe portions; and
an exhaust gas-purifying unit connected to an exhaust downstream end of the single exhaust pipe portion,
and wherein:
the exhaust gas-purifying unit is disposed on the vehicle-rear side of the engine to allow a gas passage thereinside to extend approximately in the vehicle-widthwise direction, in top plan view;
the upstream exhaust assembly includes, on an exhaust upstream side of the single exhaust pipe portion, a section which curves to allow an exhaust downstream region of the section to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view;
the single exhaust pipe portion curves to allow an exhaust downstream region of the single exhaust pipe portion to be oriented toward a vehicle-front side, in top plan view; and
the downstream exhaust pipe is connected to an exhaust downstream end of the exhaust gas-purifying unit, and disposed to extend from a connection portion thereof with the exhaust gas-purifying unit toward an tunnel opening formed in a vehicle-widthwise central region of a lower end of a dash panel of the vehicle.
2. The exhaust apparatus as defined in claim 1, wherein:
the exhaust gas-purifying unit has a catalyst installation portion formed in a cross-sectionally generally circular shape and provided in the gas passage; and
a maximum vehicle-widthwise protruding amount of the single exhaust pipe portion with respect to an exhaust upstream end surface of the catalyst installation portion is set to be greater than a maximum vehicle-widthwise protruding amount of the downstream exhaust pipe with respect to an exhaust downstream end surface of the catalyst installation portion, to allow a gas entry angle with respect to the exhaust upstream end surface of the catalyst installation portion to become greater than a gas discharge angle with respect to the exhaust downstream end surface of the catalyst installation portion.
3. The exhaust apparatus as defined in claim 2, wherein the exhaust gas-purifying unit is disposed on the vehicle-front side of an exhaust upstream end of the single exhaust pipe portion and below the branch pipe portions.
4. The exhaust apparatus as defined in claim 3, wherein:
the exhaust gas-purifying unit is supported with respect to the engine; and
the downstream exhaust pipe has a flexible joint interposed therein.
5. The exhaust apparatus as defined in claim 4, wherein:
the upstream exhaust assembly has a plurality of intermediate collector pipe portions between each of the plurality of branch pipe portions and the single exhaust pipe portion;
each of the intermediate collector pipe portions is formed by dividing the plurality of cylinders into a plurality of cylinder groups each consisting of two or more cylinders whose exhaust strokes are not successive with respect to each other, and merging the branch pipe portions communicated with respective ones of the cylinders in each of the cylinder groups, on a cylinder group-by-cylinder group basis;
the single exhaust pipe portion is formed by merging the plurality of intermediate collector pipe portions together; and
each of the plurality of intermediate collector pipe portions curves to allow an exhaust downstream region of the intermediate collector pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
6. The exhaust apparatus as defined in claim 4, wherein:
the section of the upstream exhaust assembly on the exhaust upstream side of the single exhaust pipe portion is comprised of the branch pipe portions;
the single exhaust pipe portion is formed by merging the plurality of branch pipe portions together; and
each of the plurality of branch pipe portions curves to allow an exhaust downstream region of the branch pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
7. The exhaust apparatus as defined in claim 1, wherein the exhaust gas-purifying unit is disposed on the vehicle-front side of an exhaust upstream end of the single exhaust pipe portion and below the branch pipe portions.
8. The exhaust apparatus as defined in claim 7, wherein:
the exhaust gas-purifying unit is supported with respect to the engine; and
the downstream exhaust pipe has a flexible joint interposed therein.
9. The exhaust apparatus as defined in claim 1, wherein:
the upstream exhaust assembly has a plurality of intermediate collector pipe portions between each of the plurality of branch pipe portions and the single exhaust pipe portion;
each of the intermediate collector pipe portions is formed by dividing the plurality of cylinders into a plurality of cylinder groups each consisting of two or more cylinders whose exhaust strokes are not successive with respect to each other, and merging the branch pipe portions communicated with respective ones of the cylinders in each of the cylinder groups, on a cylinder group-by-cylinder group basis;
the single exhaust pipe portion is formed by merging the plurality of intermediate collector pipe portions together; and
each of the plurality of intermediate collector pipe portions curves to allow an exhaust downstream region of the intermediate collector pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
10. The exhaust apparatus as defined in claim 1, wherein:
the section of the upstream exhaust assembly on the exhaust upstream side of the single exhaust pipe portion is comprised of the branch pipe portions;
the single exhaust pipe portion is formed by merging the plurality of branch pipe portions together; and
each of the plurality of branch pipe portions curves to allow an exhaust downstream region of the branch pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
11. The exhaust apparatus as defined in claim 2, wherein:
the upstream exhaust assembly has a plurality of intermediate collector pipe portions between each of the plurality of branch pipe portions and the single exhaust pipe portion;
each of the intermediate collector pipe portions is formed by dividing the plurality of cylinders into a plurality of cylinder groups each consisting of two or more cylinders whose exhaust strokes are not successive with respect to each other, and merging the branch pipe portions communicated with respective ones of the cylinders in each of the cylinder groups, on a cylinder group-by-cylinder group basis;
the single exhaust pipe portion is formed by merging the plurality of intermediate collector pipe portions together; and
each of the plurality of intermediate collector pipe portions curves to allow an exhaust downstream region of the intermediate collector pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
12. The exhaust apparatus as defined in claim 2, wherein:
the section of the upstream exhaust assembly on the exhaust upstream side of the single exhaust pipe portion is comprised of the branch pipe portions;
the single exhaust pipe portion is formed by merging the plurality of branch pipe portions together; and
each of the plurality of branch pipe portions curves to allow an exhaust downstream region of the branch pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
13. The exhaust apparatus as defined in claim 3, wherein:
the upstream exhaust assembly has a plurality of intermediate collector pipe portions between each of the plurality of branch pipe portions and the single exhaust pipe portion;
each of the intermediate collector pipe portions is formed by dividing the plurality of cylinders into a plurality of cylinder groups each consisting of two or more cylinders whose exhaust strokes are not successive with respect to each other, and merging the branch pipe portions communicated with respective ones of the cylinders in each of the cylinder groups, on a cylinder group-by-cylinder group basis;
the single exhaust pipe portion is formed by merging the plurality of intermediate collector pipe portions together; and
each of the plurality of intermediate collector pipe portions curves to allow an exhaust downstream region of the intermediate collector pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.
14. The exhaust apparatus as defined in claim 3, wherein:
the section of the upstream exhaust assembly on the exhaust upstream side of the single exhaust pipe portion is comprised of the branch pipe portions;
the single exhaust pipe portion is formed by merging the plurality of branch pipe portions together; and
each of the plurality of branch pipe portions curves to allow an exhaust downstream region of the branch pipe portion to be oriented toward one side of the vehicle-widthwise direction which is a direction coming close to the transmission, in top plan view.

1. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list; and
generating at least one output frame according to the winner candidate;
wherein the step of generating the winner candidate from the candidate list comprises:
choosing a winner motion vector considering its temporal and spatial neighbors’ motion vectors as the winner candidate.
2. The frame rate conversion method of claim 1, wherein the step of generating the candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors comprises:
generating the candidate list comprising local regional motion vectors; and
generating the candidate list comprising MvFlow candidates.
3. The frame rate conversion method of claim 1, wherein the step of generating the winner candidate from the candidate list further comprises:
choosing the winner motion vector with the smallest SAD as the winner candidate from the candidate list.
4. The frame rate conversion method of claim 1, wherein the step of generating the winner candidate from the candidate list further comprises:
choosing the winner motion vector with the total smallest SAD, spatial bias, and temporal bias as the winner candidate from the candidate list.
5. The frame rate conversion method of claim 1, wherein the step of generating the winner candidate from the candidate list further comprises:
generating the winner candidate from the candidate list by bi-directional search scheme.
6. The frame rate conversion method of claim 1, further comprising the following step:
performing a post ME process to correct the winner motion vector, wherein the post ME process comprises at least one of MV jump correction, cover detection, and outlier filtering.
7. The frame rate conversion method of claim 1, further comprising the following step:
performing a cover detection by using SAD information according to bi-directional search scheme to detect potential cover and uncover areas in the at least two input frames and generating cover detection information.
8. The frame rate conversion method of claim 7, further comprising the following step:
performing a filtering based on the cover detection information to avoid discontinuity on block boundaries in the at least one output frame.
9. The frame rate conversion method of claim 1, further comprising the following step:
detecting a logo block according to whether a block is moving between the reference frame and the target frame, the time the block has been standing still, or the edge information of the block.
10. The frame rate conversion method of claim 1, further comprising the following step:
performing a frame reliability detection to decide how the winner candidate is weighted to generate the at least one output frame.
11. The frame rate conversion method of claim 1, wherein the step of generating the at least one output frame according to the winner candidate comprises:
controlling a interpolated pixel value according to SADs of the winner candidate and its neighboring motion vectors.
12. A frame rate conversion apparatus, for receiving at least two input frames to generate at least one output frame, comprising:
a motion estimation module, for generating a candidate list comprising regional motion vectors and temporal motion vectors from the at least two input frames and choosing a winner motion vector from the candidate list; and
a motion compensation module, for generating the at least one output frame according to the winner motion vector;
wherein the winner motion vector is generated according to its temporal and spatial neighbors’ motion vectors.
13. The frame rate conversion apparatus of claim 12, wherein the regional motion vectors are local regional motion vectors and the temporal motion vectors are MvFlow candidates.
14. The frame rate conversion apparatus of claim 12, further comprising:
a frame feature extraction module, comprising a fade-inout detection unit for generating fade-inout information from the at least two input frames; and
an adaptive MEMC control module, for deciding a weighting of the winner motion vector according to the fade-inout information;
wherein the at least one output frame is generated according the weighting.
15. The frame rate conversion apparatus of claim 12, further comprising:
a frame feature extraction module, comprising a logo detection unit for generating a logo detection information from the at least two input frames;
wherein the at least one output frame is generated according to the logo information.
16. The frame rate conversion apparatus of claim 12, wherein the winner motion vector is generated according to a bi-directional search scheme.
17. The frame rate conversion apparatus of claim 12, wherein the winner motion vector is with the smallest SAD in the candidate list.
18. The frame rate conversion apparatus of claim 12, wherein the motion estimation module further comprises a post ME unit to perform a post ME process to correct the winner motion vector, and wherein the post ME process comprises at least one of MV jump correction, cover detection, and outlier filtering.
19. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list; and
generating at least one output frame according to the winner candidate;
wherein the step of generating the candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors comprises:
generating the candidate list comprising local regional motion vectors; and
generating the candidate list comprising MvFlow candidatese.
20. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list; and
generating at least one output frame according to the winner candidate;
wherein the step of generating the winner candidate from the candidate list comprises:
choosing a winner motion vector with the total smallest SAD, spatial bias, and temporal bias as the winner candidate from the candidate list.
21. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
performing a cover detection by using SAD information according to bi-directional search scheme to detect potential cover and uncover areas in the at least two input frames and generating cover detection information;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list; and
generating at least one output frame according to the winner candidate.
22. The frame rate conversion method of claim 21, further comprising the following step:
performing a filtering based on the cover detection information to avoid discontinuity on block boundaries in the at least one output frame.
23. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list;
generating at least one output frame according to the winner candidate; and
detecting a logo block according to whether a block is moving between the reference frame and the target frame, the time the block has been standing still, or the edge information of the block.
24. A frame rate conversion method, comprising:
receiving at least two input frames comprising a reference frame and a target frame;
generating a plurality of motion vectors according to the at least two input frames;
generating a candidate list comprising regional motion vectors and temporal motion vectors from the plurality of motion vectors;
generating a winner candidate from the candidate list;
generating at least one output frame according to the winner candidate; and
wherein the step of generating the at least one output frame according to the winner candidate comprises:
controlling a interpolated pixel value according to SADs of the winner candidate and its neighboring motion vectors.
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. A system for imaging and providing therapy to one or more regions of interest, the system comprising:
an imaging and therapy catheter configured to image an anatomical region to facilitate assessing need for therapy in one or more regions of interest within the anatomical region and delivering therapy to the one or more regions of interest within the anatomical region; and
a medical imaging system operationally coupled to the catheter and having a display area and a user interface area, wherein the medical imaging system is configured to facilitate definition of a therapy pathway to facilitate delivering therapy to the one or more regions of interest.
2. The system of claim 1, wherein the imaging and therapy catheter comprises a real-time imaging and therapy transducer.
3. The system of claim 2, wherein the imaging and therapy transducer comprises integrated imaging and therapy components.
4. The system of claim 1, wherein the therapy comprises ablation, percutaneous ethanol injection, cryotherapy, laser-induced thermotherapy, delivery of tools for gene therapy, surgical tools or combinations thereof.
5. The system of claim 1, further comprising a catheter positioning system configured to reposition the catheter automatically or in response to input from a user and relative to the defined therapy pathway.
6. The system of claim 5, wherein the catheter positioning system comprises a tip position sensor configured to provide location information of a tip of the catheter and a mechanism configured to actuate the tip of the catheter.
7. The system of claim 1, further comprising a feedback system in operative association with the catheter positioning system and the medical imaging system, wherein the feedback system is configured to facilitate communication between the catheter positioning system and the medical imaging system.
8. The system of claim 1, wherein the medical imaging system comprises an ultrasound system, an optical imaging system, an electro-anatomical imaging system or combinations thereof.
9. The system of claim 1, wherein the user interface area of the medical imaging system comprises a human interface device configured to facilitate the user to identify the one or more regions of interest for directing therapy using an image of the anatomical region displayed on the display area of the medical imaging system.
10. The system of claim 1, wherein the display area includes a three-dimensional display area configured to aid in identifying one or more regions of interest and in visualizing three-dimensional shapes.
11. The system of claim 1, wherein the imaging and therapy catheter comprises a forward viewing catheter, a side viewing catheter or combinations thereof.
12. The system of claim 1, wherein the medical imaging system is configured to provide control signals to the imaging and therapy catheter to excite the therapy component of the imaging and therapy transducer and deliver therapy to the one or more regions of interest.
13. The system of claim 1, further configured to provide a system generated proposed therapy pathway based on selected characteristics of the image data.
14. The system of claim 13, wherein the selected characteristics comprise a brightness, a density, a tissue stiffness, or combinations thereof.
15. A method for imaging and providing therapy to one or more regions of interest, the method comprising:
generating an image from acquired image data for display on a display area of a medical imaging system;
identifying one or more regions of interest requiring therapy on the displayed image;
defining a therapy pathway in response to the identified one or more regions of interest; and
delivering therapy to the one or more regions of interest in accordance with the defined therapy pathway.
16. The method of claim 15, further comprising acquiring the image data via an imaging and therapy catheter to facilitate assessing need for therapy.
17. The method of claim 16, wherein the imaging and therapy catheter comprises an imaging and therapy transducer.
18. The method of claim 15, wherein the defining step comprises drawing the therapy pathway on the displayed image via a human interface device.
19. The method of claim 18, further comprising determining location information of the one or more regions of interest.
20. The method of claim 19, further comprising communicating the location information via a feedback system between a catheter positioning system and the medical imaging system.
21. The method of claim 20, further comprising repositioning the imaging and therapy catheter to a desirable location to facilitate inclusion of the one or more regions of interest within a field of view of the imaging and therapy transducer.
22. The method of claim 15, further comprising providing a system generated proposed therapy pathway based on selected characteristics of the image data.
23. A computer readable medium comprising one or more tangible media, wherein the one or more tangible media comprise:
code adapted to generate an image from acquired image data for display on a display area of a medical imaging system;
code adapted to identify one or more regions of interest requiring therapy on the displayed image;
code adapted to define a therapy pathway in response to the identified one or more regions of interest; and
code adapted to deliver therapy to the one or more regions of interest in accordance with the defined therapy pathway.
24. The computer readable medium, as recited in claim 23, further comprising code adapted to acquire the image data via an imaging and therapy catheter to facilitate assessing need for therapy.
25. The computer readable medium, as recited in claim 23, further comprising code adapted to determine location information of the one or more regions of interest and communicate the location information via a feedback system between a catheter positioning system and the medical imaging system.
26. The computer readable medium, as recited in claim 25, further comprising code adapted to reposition the imaging and therapy catheter to a desirable location to facilitate inclusion of the one or more regions of interest within a field of view of an imaging and therapy transducer, wherein the imaging and therapy catheter comprises the imaging and therapy transducer.
27. A system for imaging and providing therapy to one or more regions of interest, the system comprising:
an imaging and therapy catheter configured to image an anatomical region to facilitate assessing the need for therapy in one or more regions of interest within the anatomical region and delivering therapy to the one or more regions of interest within the anatomical region;
a medical imaging system operationally coupled to the catheter and having a display area and a user interface area, wherein the medical imaging system is configured to facilitate defining a therapy pathway to facilitate delivering therapy to the one or more regions of interest;
an image generation sub-system for receiving acquired image data, generating an image of the anatomical region and displaying the image on the display area of the medical imaging system; and
an operator console for identifying the one or more regions of interest on the displayed image.
28. The system of claim 27, further comprising a catheter positioning system in operative association with the imaging and therapy catheter and configured to reposition the catheter automatically or in response to input from a user and relative to the defined therapy pathway.
29. The system of claim 27, further comprising a feedback system operationally coupled to the catheter positioning system and the medical imaging system, wherein the feedback system is configured to facilitate communication between the catheter positioning system and the medical imaging system.
30. The system of claim 27, wherein the medical imaging system is configured to provide control signals to the imaging and therapy catheter to excite a therapy component of the imaging and therapy transducer and steer an ablation beam to deliver therapy to the one or more regions of interest, wherein the imaging and therapy catheter comprises the imaging and therapy transducer.
31. The system of claim 27, further configured to provide a system generated proposed therapy pathway based on selected characteristics of the image data.
32. The system of claim 27, wherein the system is configured to generate a composite image by assembling images from a plurality of imaging and therapy catheter positions and store the composite image.
33. The system of claim 32, wherein one or more regions of interest are located outside a field of view of a current position of the imaging and therapy catheter.
34. The system of claim 33, wherein the system is configured to reposition the imaging and therapy catheter to follow the therapy pathway.