Apparatuses, Systems, and Methods for Apparatus Operation and Remote Sensing
First Claim
1. A method for controlling an apparatus (12) in an environment (18), comprising:
- receiving (810) data indicative of an actual state of the apparatus (12);
defining (815) a first viewpoint relative to at least one of the environment (18) and the apparatus (12);
determining (820) a first predicted state of the apparatus (12) at time T, wherein T is current time plus additional time representative of latency for a control signal to be received and be implemented by the apparatus (12), and wherein the first predicted state of the apparatus (12) is determined from at least one previous actual state of the apparatus (12);
determining (825) a first predicted state of the environment (18) at time T;
producing (830) a first virtualized view from the first viewpoint, wherein the first virtualized view uses encoded data, wherein the first virtualized view is indicative of both the first predicted state of the apparatus (12) at time T and the first predicted state of the environment (18) at time T;
sending (835) a first control signal to the apparatus (12) after producing the first virtualized view;
defining (840) a second viewpoint relative to at least one of the apparatus (12) and the environment (18), wherein defining a second viewpoint occurs after defining a first viewpoint;
determining (845) a second predicted state of the apparatus (12) at time T+delta T, where delta T is a difference in a time between displaying the first virtualized view and a second virtualized view, and wherein the second predicted state of the apparatus (12) is estimated from at least one previous actual state of the apparatus (12) and from at least one previous control signal to the apparatus (12);
determining (850) a second predicted state of the environment (18) at time T+delta T;
producing (855) the second virtualized view from the second viewpoint, wherein the second virtualized view uses encoded data, and wherein the second virtualized view is indicative of both the second predicted state of the apparatus (12) at time T|delta T and the second predicted state of the environment (18) at time T+delta T;
sending (860) a second control signal to the apparatus after producing the second virtualized view; and
changing (865) the actual state of the apparatus (12) based on the first control signal.
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Accused Products
Abstract
A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.
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Citations
22 Claims
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1. A method for controlling an apparatus (12) in an environment (18), comprising:
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receiving (810) data indicative of an actual state of the apparatus (12); defining (815) a first viewpoint relative to at least one of the environment (18) and the apparatus (12); determining (820) a first predicted state of the apparatus (12) at time T, wherein T is current time plus additional time representative of latency for a control signal to be received and be implemented by the apparatus (12), and wherein the first predicted state of the apparatus (12) is determined from at least one previous actual state of the apparatus (12);
determining (825) a first predicted state of the environment (18) at time T;producing (830) a first virtualized view from the first viewpoint, wherein the first virtualized view uses encoded data, wherein the first virtualized view is indicative of both the first predicted state of the apparatus (12) at time T and the first predicted state of the environment (18) at time T; sending (835) a first control signal to the apparatus (12) after producing the first virtualized view; defining (840) a second viewpoint relative to at least one of the apparatus (12) and the environment (18), wherein defining a second viewpoint occurs after defining a first viewpoint; determining (845) a second predicted state of the apparatus (12) at time T+delta T, where delta T is a difference in a time between displaying the first virtualized view and a second virtualized view, and wherein the second predicted state of the apparatus (12) is estimated from at least one previous actual state of the apparatus (12) and from at least one previous control signal to the apparatus (12); determining (850) a second predicted state of the environment (18) at time T+delta T; producing (855) the second virtualized view from the second viewpoint, wherein the second virtualized view uses encoded data, and wherein the second virtualized view is indicative of both the second predicted state of the apparatus (12) at time T|delta T and the second predicted state of the environment (18) at time T+delta T; sending (860) a second control signal to the apparatus after producing the second virtualized view; and changing (865) the actual state of the apparatus (12) based on the first control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system (10) for operation in an environment (18), comprising:
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an apparatus (12) including a sensor (24); a control agent (14); a processor (20, 40) connected to at least one of the apparatus (12) and control agent (14); a memory device (22, 42) connected to the processor (20, 40), wherein the memory (22, 42) includes computer-readable instructions which, when executed by the processor (20, 40), cause the processor (20, 40) to perform the steps of; receiving (810) data indicative of an actual state of the apparatus (12); defining (815) a first viewpoint relative to at least one of the environment (18) and the apparatus (12); determining (820) a first predicted state of the apparatus (12) at time T, wherein T is current time plus additional time representative of latency for a control signal to be received and implemented by the apparatus (12), and wherein the first predicted state of the apparatus (12) is estimated from at least one previous actual state of the apparatus (12); determining (825) a first predicted state of the environment (18) at time T; producing (830) a first virtualized view from the first viewpoint, wherein the first virtualized view uses encoded data, wherein the first virtualized view is indicative of the first predicted state of the apparatus (12) and the environment (18) at time T; sending (835) a first control signal to the apparatus (12) after producing the first virtualized view; defining (840) a second viewpoint relative to at least one of the apparatus (12) and the environment (18), wherein defining a second viewpoint occurs after defining a first viewpoint; determining (845) a second predicted state of the apparatus (12) at time T+delta T, where delta T is a difference in a time between displaying the first virtualized view and a second virtualized view, and wherein the second predicted state of the apparatus (12) is estimated from previous actual states of the apparatus (12) and from previous control signals to the apparatus (12); determining (850) a second predicted state of the environment (18) at time T; producing (855) the second virtualized view from the second viewpoint, wherein the second virtualized view uses encoded data, and wherein the second virtualized view is indicative of the second predicted state of the apparatus (12) and the environment (18) at time T+delta T; sending (860) a second control signal to the apparatus after producing the second virtualized view; and changing (865) the actual state of the apparatus (12) based on the first control signal. - View Dependent Claims (19, 20, 21, 22)
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Specification