US Pat. No. 9,230,180

EYES-OFF-THE-ROAD CLASSIFICATION WITH GLASSES CLASSIFIER

GM GLOBAL TECHNOLOGY OPER...

1. Method for determining if an Eyes-Off-the-Road (EOTR) condition exists, comprising:
capturing image data corresponding to a driver from a monocular camera device;
detecting whether the driver is wearing eye glasses based on the image data using an eye glasses classifier, comprising:
extracting visual features from the captured image data;
quantizing the extracted visual features using a dictionary of multiple visual words obtained by a clustering routine;
pooling the quantized visual features to generate a spatial histogram of the visual words; and
classifying the spatial histogram using the eye-glasses classifier to detect whether the driver is wearing eye glasses; and
when it is detected that the driver is wearing eye glasses:
detecting a driver face location from the captured image data; and
determining whether the EOTR condition exists based on the driver face location using an EOTR classifier.

US Pat. No. 9,662,432

CANNULA TIP FOR AN ARTERIAL CANNULA

Carnegie Mellon Universit...

1. A cannula tip for a cannula for conveying blood in a downstream direction into an artery, said cannula tip having an inlet
having a first predetermined diameter, a longitudinal axis, a body portion, and a diverging portion having a second predetermined
diameter, and wherein
said body portion includes a swirl inducing means downstream from said inlet for causing the rotation of a flow of said blood
within said cannula tip around said longitudinal axis,

said swirl inducing means has a third predetermined diameter which is at least about three times said first predetermined
diameter of said inlet, and

said swirl inducing means is able to cause blood flowing in said cannula tip to undergo at least about a 360 degree rotation
about said longitudinal axis.

US Pat. No. 9,063,796

METHOD AND APPARATUS FOR IMPROVING PROCESSING PERFORMANCE OF A MULTI-CORE PROCESSOR

GM GLOBAL TECHNOLOGY OPER...

1. A method for managing task execution in a multi-core processor, comprising:
employing a spinlock to effect a dynamically enforceable mutual exclusion constraint; and
employing a multi-processor priority ceiling protocol to effect the dynamically enforceable mutual exclusion constraint to
synchronize a plurality of tasks executing in the first and second processing cores of the multi-core processor;

wherein employing the multi-processor priority ceiling protocol comprises employing a global priority ceiling to preempt tasks
having selected mutual exclusion constraints by a task having a mutual exclusion constraint having a higher remote priority
ceiling, including executing global critical sections corresponding to a global mutex MG when a task T acquires the global mutex MG at a set priority.

US Pat. No. 9,643,123

HIGH PERFORMANCE HYDROPHOBIC SOLVENT, CARBON DIOXIDE CAPTURE

CARNEGIE MELLON UNIVERSIT...

1. A method comprising:
contacting at least one first composition comprising carbon dioxide with at least one second composition to at least partially
dissolve the carbon dioxide of the first composition in the second composition, wherein the second composition comprises at
least one siloxane compound which is covalently modified with at least one non-siloxane group comprising at least one heteroatom.

US Pat. No. 9,278,255

SYSTEM AND METHOD FOR ACTIVITY RECOGNITION

ARRIS Enterprises, Inc., ...

1. A method for automatic recognition of human activity, comprising the steps of:
decomposing a human activity into a plurality of fundamental component attributes needed to perform the human activity, wherein
the human activity is included in a training set of activities;

defining ontologies of fundamental component attributes from the plurality of the fundamental component attributes identified
during said decomposing step for each of a plurality of different targeted activities;

converting a data stream, the data stream captured during a performance by a human of a performed activity, into a sequence
of fundamental component attributes; and

classifying the performed activity as one of the plurality of different targeted activities based on a closest match of the
sequence of fundamental component attributes obtained during said converting step to at least a part of one of the ontologies
of fundamental component attributes defined during said defining step, wherein the performed activity is not included in the
training set of activities, the classifying comprising selecting only unseen classes in an attribute space;

wherein each of the fundamental component attributes is defined from a sequence of features, and further comprising the step
of extracting features from the data stream with computations in at least one of time domain and frequency domain; and

wherein the data stream provides a time-sequence of features, and wherein, during said classifying step, a feature at each
time slice of the data stream is compared to features of the fundamental component attributes at a corresponding time slice
within the ontologies to determine a closest match.

US Pat. No. 9,088,046

SODIUM BASED AQUEOUS ELECTROLYTE ELECTROCHEMICAL SECONDARY ENERGY STORAGE DEVICE

CARNEGIE MELLON UNIVERSIT...

1. A method of operating hybrid aqueous energy storage device comprising an anode electrode, a cathode electrode comprising
an undoped tunnel-structured orthorhombic Na4M9O18 active cathode material, wherein M comprises manganese, a separator, and a sodium containing aqueous electrolyte, the method
comprising deintercalating sodium ions from an active cathode electrode material during initial charging of the device, reversibly
intercalating sodium ions into the active cathode electrode material during discharge cycles, and deintercalating sodium ions
from the active cathode electrode material during subsequent charge cycles, wherein the anode electrode comprises an activated
carbon active anode material;
wherein:
the electrolyte pH is between 7 and 8;
the anode electrode further comprises a polytetrafluoroethylene (PTFE) binder;
the cathode electrode further comprises a polytetrafluoroethylene (PTFE) binder and a carbon black diluent;
the separator comprises a cotton sheet separator;
the anode electrode comprises 10 weight percent of the polytetrafluoroethylene (PTFE) binder and 90 weight percent of the
activated carbon active anode material;

the cathode electrode comprises 10 weight percent of the polytetrafluoroethylene (PTFE) binder, 10 weight percent of the carbon
black diluent, and 80 weight percent of the undoped tunnel-structured orthorhombic Na4Mn9O18 active cathode material; and

the electrolyte consists of 1M Na2SO4 solvated in deionized water.

US Pat. No. 9,364,503

METHODS AND APPARATUS FOR MANUFACTURING PLASMA BASED PLASTICS AND BIOPLASTICS PRODUCED THEREFROM

Carmell Therapeutics Corp...

1. A blood-derived plastic comprising a plasticized composition comprising clotted whole plasma and at least one biological
response modifier.

US Pat. No. 9,361,695

METHOD OF RECOGNIZING A POSITION OF A WORKPIECE FROM A PHOTOGRAPHED IMAGE

HONDA MOTOR CO., LTD., T...

1. A method of recognizing a position of a workpiece from a photographed image, comprising:
a preparation process, which comprises
a process of photographing one workpiece from a plurality of angles to create photographed images, and obtaining a plurality
of sample patch images by segmenting the photographed images into patches;

a process of classifying the plurality of sample patch images;
a process of storing the plurality of sample patch images, while corresponding each sample patch image with position information
relative to a reference position of the workpiece, and reliability information related to a reliability of the position information;
and

a process of applying a weighting coefficient to each of the plurality of sample patch images based on the reliability information
of each of the plurality of sample patch images;

a process of photographing a plurality of workpieces not aligned to create a photographed image, and obtaining a plurality
of patch images by segmenting the photographed image into patches;

a process of classifying all of the plurality of patch images, with a same method as the method in which the plurality of
sample patch images are classified;

a process of obtaining a singular score by tallying a total sum of weighting coefficients, for position information relative
to the reference position of the workpiece, which is stored for each of the plurality of patch images corresponded to a sample
patch image of a same classification as the patch image; and

a process of obtaining the reference position of at least one workpiece in the photographed image, on the basis of the singular
score.

US Pat. No. 9,644,042

ELECTROCHEMICALLY MEDIATED ATOM TRANSFER RADICAL POLYMERIZATION

Carnegie Mellon Universit...

1. A polymerization process, comprising:
polymerizing free radically (co)polymerizable monomers in the presence of a polymerization medium initially comprising:
at least one transition metal catalyst that can participate in a redox reaction; and
an initiator comprising one or more redox transferable atoms or groups;
wherein a selected molar ratio of two oxidation states of the transition metal catalyst is directly adjusted, controlled,
and/or maintained by electrochemistry throughout a time that an active polymerization is desired;

wherein the polymerization takes place in an electrolysis apparatus comprising at least a cathode and an anode;
wherein electrolysis is controlled by controlling one or more of an applied voltage, a current, and a charge passed, and
wherein the electrolysis control is selected to provide a concentration greater than or equal to 0.1% of each oxidation state
of the at least one transition metal catalyst based on total transition metal added in the polymerization medium.

US Pat. No. 9,286,216

3DIC MEMORY CHIPS INCLUDING COMPUTATIONAL LOGIC-IN-MEMORY FOR PERFORMING ACCELERATED DATA PROCESSING

Carnegie Mellon Universit...

26. A data processing method, comprising:
storing data in primary memory provided by at least one memory layer;
loading one or more data subsets of the data from the primary memory into a computational logic-in-memory (LiM) layer over
a plurality of vertical interconnect access structures (VIAs);

processing the one or more data subsets of the data computationally within the computational LiM layer; and
storing a computational result.

US Pat. No. 9,241,651

FABRICATION, METHODS, APPARATUSES, AND SYSTEMS FOR ULTRA-COMPLIANT PROBES FOR NEURAL AND OTHER TISSUES

CARNEGIE MELLON UNIVERSIT...

1. A neural probe for insertion into a tissue, the neural probe comprising:
a tab having a first section, a second section, and one or more needles extending from the second section, wherein the tab
is made of biodegradable material, wherein the second section and the one or more needles each have a faster rate of dissolution
than a rate of dissolution of the first section, wherein a Young's Modulus of the tab is substantially equal to or greater
than a Young's Modulus of the tissue; and

an electrode connected to a wire, wherein the wire is meandered to form a meandering wire, wherein the electrode and a first
portion of the wire are encased in one needle of the one or more needles, wherein a second portion of the wire is disposed
in a casing to form a cable, wherein the cable is encased in the second section of the tab.

US Pat. No. 9,076,476

THIN FILM MEDIA STRUCTURE FOR PERPENDICULAR MAGNETIC RECORDING AND STORAGE DEVICES MADE THEREWITH

Carnegie Mellon Universit...

1. A magnetic recording medium, comprising:
a substrate having a surface; and
a magnetically recordable layer supported by said substrate, said magnetically recordable layer having a coercivity of at
least about 5 kOe and including:

iron-platinum having a granular configuration comprising grains separated by inter-granular regions, wherein said grains:
have predominantly a L10 crystal structure;

have an average grain size of between about 2 nm and about 10 nm in a plane parallel to said surface of said substrate;
a magnetization orientation substantially perpendicular to said surface of said substrate; and
boron interspersed among said grains, wherein said boron comprises about 5% to about 40% of said magnetically recordable layer,
by volume; and

a carbon or boron underlayer, having a thickness of 0 substrate so as to be in contact with said iron-platinum, wherein said underlayer comprises a material selected to influence
the grain size of the grains of the iron-platinum as said magnetically recordable layer is grown over said underlayer,

wherein said magnetically recordable layer further comprises silver interspersed among said grains, wherein said silver comprises
up to about 11% of said magnetically recordable layer, by volume.

US Pat. No. 9,069,256

METHOD OF OPTICAL FABRICATION OF THREE-DIMENSIONAL POLYMERIC STRUCTURES WITH OUT OF PLANE PROFILE CONTROL

Carnegie Mellon Universit...

1. A method of optical fabrication, comprising:
coating a substrate with a photocuring material;
controlling the application of light to the photocuring material so as to simultaneously control the intensity and pattern
of the light both in-plane and out of plane by moving a stage or a lens in an X direction, a Y direction, and a Z direction,
wherein the intensity and pattern of the light are applied using a first light beam and a second light beam, wherein the first
light beam and the second light beam are applied at a point to positively or negatively interfere to apply the intensity and
pattern of the light;

heating certain structures to cause thermal reflow; and
developing the photocuring material.

US Pat. No. 9,457,807

UNIFIED MOTION PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE IN OBSTACLE AVOIDANCE MANEUVER

GM Global Technology Oper...

1. A method for generating a desired path for a vehicle to follow along a roadway, said vehicle including a map database and
a lane detection system, said method comprising:
providing roadway measurement values from the map database to a controller including a processor and a memory, where the roadway
measurement values identify locations on the roadway;

adjusting positions of the roadway measurement values relative to the roadway, in the memory, so that adjacent roadway measurement
values are substantially an equal distance apart;

determining, using the controller, a reference path using the roadway measurement values for the vehicle to follow along the
roadway;

determining, using the controller, a reference speed of the vehicle from a posted roadway speed from the map database;
determining, using the controller, that an object creates a potential collision problem with the vehicle on the reference
path and at the reference speed;

adjusting, using the controller, the reference path and/or the reference speed to avoid the object;
determining a short segment path that will bring the vehicle back to the reference path, including modeling a local closed-loop
trajectory as a fifth-order polynomial path model and a third-order polynomial speed model; and

providing signals from the controller to a vehicle brake system, a throttle and a steering system to cause the vehicle to
follow the reference path and the reference speed.

US Pat. No. 9,405,982

DRIVER GAZE DETECTION SYSTEM

GM GLOBAL TECHNOLOGY OPER...

1. Method for detecting an eyes-off-the-road condition based on an estimated gaze direction of a driver of a vehicle, comprising:
monitoring facial feature points of the driver within image input data captured by an in-vehicle camera device;
detecting a location for each of a plurality of eye features for an eyeball of the driver based on the monitored facial feature
points, comprising;

detecting a location of an iris;
detecting a location for a first eye corner indicative of an inner eye corner proximate to a nose bridge;
detecting a location for a second eye corner indicative of an outer eye corner;
for each corresponding eye feature of the plurality of eye features, training a classifier, comprising:
assigning image patches around a reference eye feature respective to the corresponding eye feature obtained from a database;
and

identifying one or more of the assigned image patches that are centered around the reference eye feature;
estimating a head pose of the driver based on the monitored facial feature points; and
estimating the gaze direction of the driver based on the detected location information for each of the plurality of eye features
and the estimated head pose.

US Pat. No. 9,370,342

MULTI-LINKED ENDOSCOPIC DEVICE WITH SPHERICAL DISTAL ASSEMBLY

Carnegie Mellon Universit...

1. A medical device comprising:
a spherical distal link cup comprising a proximal end and a distal end, wherein the distal end comprises a first mating surface
having a concave shape;

a spherical rotating link comprising a second mating surface configured to interface with the first mating surface,
wherein:
the spherical rotating link is configured to rotate with at least one degree of freedom,
the spherical rotating link comprises a first conductive element,
the spherical distal link cup comprises a second conductive element, wherein the second conductive element is attached to
the first conductive element; and

one or more wires configured to communicate one or more of the following to one or more of the first conductive element and
the second conductive element:

electrical energy,
data optical information, and
data.

US Pat. No. 9,336,439

SYSTEM AND METHOD FOR THE LONG RANGE ACQUISITION OF IRIS IMAGES FROM STATIONARY AND MOBILE SUBJECTS

Carnegie Mellon Universit...

1. A system for acquiring images of the human iris comprising:
a. an image sensor;
b. a lens having a controllable focal length;
c. a pan/tilt mechanism upon which said sensor and said lens are mounted; and
d. a computer, programmed with software for performing the functions of:
setting the focal length of said lens to a first predetermined point representing a distance from said system;
detecting when a subject crosses said first predetermined point;
setting the focal length of said lens to a second predetermined point representing a second distance from said system, said
second distance being closer to said system than said first distance;

detecting when a subject crosses said second predetermined point;
estimating the speed of a subject based on the known distance between said first and said second predetermined points and
the elapsed time for the subject to travel from said first predetermined point to said second predetermined point;

controlling said pan/tilt mechanism to keep the face of the subject with the frame of said image sensor;
acquiring images of the iris of the eye of the subject; and
matching said image against a database of images of the irises of known subjects.
US Pat. No. 9,249,306

QUENCHED DENDRIMERIC DYES FOR FLORESCENCE DETECTION

Carnegie Mellon Universit...

1. A compound comprising an activatable acceptor moiety covalently attached to a linker, and a plurality of donor moieties
covalently attached to the linker, wherein
(a) the acceptor moiety is a triarylmethine dye, and
(b) the donor moieties are Cy3 dyes, and
wherein the Cy3 dyes, when excited, transfer at least 50% of their excitation energy to the triarylmethine dye, and when activated,
the triarylmethine dye produces a detectable fluorescence signal different from the signal produced when the triarylmethine
dye is not activated.

US Pat. No. 9,117,821

ORIENTED CRYSTAL NANOWIRE INTERCONNECTS

Carnegie Mellon Universit...

1. A semiconductor device comprising:
at least one interconnect wire having a length greater than a width or a height, the width and the height being sufficiently
small so as to result in an increase in an electrical resistivity of the wire,

wherein the at least one interconnect wire has a crystallographic orientation of its crystal or crystals relative to a direction
of current flow that minimizes the increase in the electrical resistivity due to the width and the height.

US Pat. No. 9,334,496

ANTISENSE EGFRAS GUANIDINIUM PEPTIDE NUCLEIC ACID (GPNA) OLIGONUCLEOTIDES AS ANTITUMOR AGENTS

UNIVERSITY OF PITTSBURGH ...

1. A method for the treatment of malignancy comprising administering systemically or intratumorally an antisense oligonucleotide
comprising at least one peptide nucleic acid “PNA”, the peptide nucleic acid comprising a guanidinium peptide (GPNA), to a
patient in need of such treatment, further wherein said oligonucleotide consists of a GPNA based on EGFR mRNA wherein said
GPNA has both unmodified PNA and four or more arginine-derived GPNA substitutions.

US Pat. No. 9,183,396

DETECTING EXPLOITABLE BUGS IN BINARY CODE

Carnegie Mellon Universit...

1. A system, comprising:
a memory; and
one or more processors coupled to the memory and configured to:
monitor resources associated with an execution client performing symbolic execution of a target program that has a beginning,
multiple execution paths, and multiple branch points among the multiple execution paths of the target program;

generate checkpoints for active symbolic execution paths of the symbolic execution;
cause the execution client to switch from a first mode of symbolic execution to a second mode of symbolic execution based
on a performance level of the monitored resources, the execution client in the first mode being configured to fork multiple
interpreters at a branch point encountered among the multiple branch points in symbolically executing an execution path among
the multiple execution paths of the target program, the execution client in the first mode being configured to continue symbolic
execution after the branch point without symbolic re-execution of any portion of the execution path prior to the branch point,
the execution client in the second mode being configured to start a separate symbolic execution of the target program from
the beginning for each branch point encountered in symbolically executing an execution path among the multiple execution paths
of the target program;

restore the generated checkpoints by executing the target program using a path predicate for at least one checkpoint, the
path predicate specifying conditions to execute a symbolic execution path to the at least one checkpoint; and

detect at least one bug based on the performed symbolic execution of the target program.

US Pat. No. 9,170,267

FLUID-PRESSURE REGULATOR AND RELATED METHODS AND SYSTEMS

Carnegie Mellon Universit...

1. A method of controllably modulating pressure of a fluid at an inlet to a fluidic network or fluidic device using a variable-resistance
variable-volume (VRVV) fluid-pressure regulator located upstream of the inlet of the fluidic network, wherein the VRVV fluid-pressure
regulator includes a fluid path, a variable resistor located in the fluid path, and a variable-volume reservoir structure
that includes a variable-volume reservoir in fluid communication with the fluid path downstream of the variable resistor and
having a volume, the method comprising:
receiving, at a controller, a signal from a pressure sensor downstream of the variable-volume reservoir; and
executing, by the controller, a pressure control algorithm designed and configured to generate, as a function of the signal,
at least one control signal designed and configured for modulating pressure of the fluid at the inlet of the fluidic network
or fluidic device by:

controlling the variable resistor to controllably change in a determined direction, either increasing or decreasing, resistance
to flow of the fluid through the variable resistor along the flow path; and

controlling the variable-volume reservoir structure to controllably change in the determined direction the volume of the variable-volume
reservoir structure simultaneously with changing the resistance of the variable resistor.

US Pat. No. 9,159,229

SMART AND SCALABLE URBAN SIGNAL NETWORKS: METHODS AND SYSTEMS FOR ADAPTIVE TRAFFIC SIGNAL CONTROL

Carnegie Mellon Universit...

1. An adaptive traffic control method comprising the steps of:
providing a local adaptive traffic control processor in communication with one or more neighboring adaptive traffic control
processors, one or more traffic flow sensors, and a local intersection controller, wherein the local adaptive traffic control
processor executes the following steps of the method:

receiving traffic signal status from the local intersection controller;
receiving current traffic flows from the one or more traffic flow sensors;
receiving planned traffic inflows from the one or more neighboring adaptive traffic control processors;
merging the current traffic flows and the planned traffic inflows to form an aggregate traffic inflows;
generating an optimal phase schedule based on the traffic signal status and the aggregate traffic inflows;
transmitting the optimal phase schedule to the one or more neighboring adaptive traffic control processors;
determining whether to extend a current phase by an extension-interval based in the optimal phase schedule; and
transmitting a switch phase instruction to the local intersection controller switch to a next phase for a minimal phase length
if the current phase is not to be extended or an extend phase instruction to extend the current phase if the current phase
is to be extended, wherein an extend phase message contains the extension interval.

US Pat. No. 9,054,531

GENERAL METHOD FOR DISTRIBUTED LINE FLOW COMPUTING WITH LOCAL COMMUNICATIONS IN MESHED ELECTRIC NETWORKS

Carnegie Mellon Universit...

1. A computerized method for distributed line flow computing for a network having line flow calculators, each of which include
a communications interface, a central processing unit, and a memory for executing the computerized method and nodes with branches
coupling adjacent ones of the nodes and components coupled to the nodes, the method comprising:
receiving via the line flow calculators an objective function configured to minimize differences between first line flows
that are determined using a first relationship of the objective function and second line flows that are determined using at
least a second relationship of the objective function, the objective function having component variables, nodal output variables
and branch flow variables for the network;

initializing via the line flow calculators the component variables, nodal output variables and branch flow variables with
initial values; and

calculating via the line flow calculators values for the branch flow variables using a distributed Newton method, and calculating
values for the component variables and the nodal output variables using values calculated for the branch flow variables until
the values of the component variables, the nodal output variables, and the branch flow variables converge within a predetermined
threshold range.

US Pat. No. 9,386,911

STEERABLE MULTI-LINKED DEVICE HAVING MULTIPLE WORKING PORTS

Carnegie Mellon Universit...

1. A steerable multi-linked device, comprising:
a first multi-linked mechanism, wherein the first multi-linked mechanism comprises a first plurality of grooves; and
a second multi-linked mechanism, wherein the second multi-linked mechanism comprises a second plurality of grooves,
wherein the first and second pluralities of grooves cooperate to define at least two working ports along a length of the device,
wherein one of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in a rigid
mode while the other of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in
a limp mode.

US Pat. No. 9,327,130

IMPLANTABLE PACEMAKERS CONTROL AND OPTIMIZATION VIA FRACTIONAL CALCULUS APPROACHES

Carnegie Mellon Universit...

1. A method for non-linear (fractional dynamics) modeling of physiological behavior measured by an implantable device, comprising
the steps of:
measuring the physiological behavior;
determining magnitude of deviation between the measured physiological behavior and a reference value yref;

modeling dynamics of the measured physiological behavior with continuous time fractional differential equations to identify
parameters of a non-linear fractal model;

selecting a constrained fractal optimal control problem;
deriving optimality conditions for the constrained fractal optimal control problem when the magnitude of deviation exceeds
a predetermined threshold;

discretizing the optimality conditions for the constrained fractal optimal control problem; and
solving the constrained fractal optimal control problem corresponding to the optimality conditions to identify an optimal
physiological behavior to operate the implantable device.

US Pat. No. 9,182,616

PHOTONIC BAND GAP STRUCTURE WITH TUNABLE OPTICAL AND ELECTRONIC PROPERTIES

Carnegie Mellon Universit...

1. A photonic band gap (PBG) structure, comprising:
a first conducting layer;
a second conducting layer; and
a nanocomposite layer between the first conducting layer and the second conducting layer, the nanocomposite layer comprising
one or more composite materials and one or more nanoparticles dispersed within the one or more composite materials, with the
one or more composite materials comprising an insulating material that is optically transparent, the one or more nanoparticles
comprising a conducting material, and the one or more nanoparticles forming one or more respective conductive channels through
the insulating material of the nanocomposite layer to electrically connect the first conducting layer and the second conducting
layer;

wherein an aggregate thickness of the first conducting layer, the second conducting layer, and the nanocomposite layer increases
a concentration of light in the nanocomposite layer, relative to other concentrations of light in the nanocomposite layer
that result from other aggregate thicknesses of the first conducting layer, the second conducting layer, and the nanocomposite
layer; and

wherein the increase in the concentration of light in the nanocomposite layer causes an increase in optical transmittances
of the first conducting layer and the second conducting layer, relative to other optical transmittances of the first conducting
layer and the second conducting layer.

US Pat. No. 9,092,850

IDENTIFYING LOCATION BIOMARKERS

Carnegie Mellon Universit...

1. A method performed by one or more processing devices, comprising:
retrieving data for a protein in a tissue type in a first state and for the protein in the tissue type in a second state;
determining, based on the retrieved data, first features of the protein in the tissue type in the first state;
determining, based on the retrieved, second features of the protein in the tissue type in the second state; and
identifying, based on the first features and the second features, that a location of the protein in the tissue type in the
first state differs from a location of the protein in the tissue type in the second state.

US Pat. No. 9,375,839

METHODS AND COMPUTER-PROGRAM PRODUCTS FOR EVALUATING GRASP PATTERNS, AND ROBOTS INCORPORATING THE SAME

Carnegie Mellon Universit...

1. A method of evaluating individual grasp patterns of a grasp pattern set for use by a robot, the method comprising:
selecting an individual grasp pattern from the grasp pattern set, wherein each individual grasp pattern of the grasp pattern
set corresponds to a motion of a manipulator and an end effector of the robot for manipulating a target object;

establishing, using a processor, a thumb-up vector extending from a top surface of the end effector;
evaluating, using the processor, a direction of the thumb-up vector during at least a portion of the motion of the manipulator
and the end effector;

excluding, using the processor, the selected individual grasp pattern from use by the robot if the direction of the thumb-up
vector during the motion is outside of one or more predetermined thresholds according to the selected individual grasp pattern;

indicating the selected individual grasp pattern as a grasp pattern candidate if the direction of the thumb-up vector during
the motion is within the one or more predetermined thresholds;

providing a plurality of grasp pattern candidates to a motion planner module of the robot; and
manipulating the target object by the robot based on at least one grasp pattern candidate of the plurality of grasp pattern
candidates.

US Pat. No. 9,135,405

AUTOMATED EXPLOIT GENERATION

Carnegie Mellon Universit...

1. A method comprising:
by one or more processors of a machine, accessing and analyzing code of a software application to identify a set of vulnerabilities
of the software application, each vulnerability among the set of vulnerabilities corresponding to a different execution path
among a set of execution paths to be explored within the code during the analyzing of the code;

by one or more processors of the machine, determining that a vulnerability among the identified set of vulnerabilities of
the software application is exploitable by:

ranking the set of execution paths to be explored; and
identifying within the analyzed code an execution path that leads to arbitrary code being enabled to execute on a computer
during execution of the software application by the computer, the identifying being performed by exploring the execution path
in accordance with the ranking of the set of execution paths; and

by one or more processors of the machine, automatically generating an exploit for the determined exploitable vulnerability,
the automatically generated exploit including an input that, after being inputted to the software application during execution
of the software application by the computer, causes the software application to follow the execution path that leads to arbitrary
code being enabled to execute on the computer.

US Pat. No. 9,082,319

METHOD, APPARATUS, AND SYSTEM FOR COMPUTER-AIDED TRACKING, NAVIGATION AND MOTION TEACHING

Carnegie Mellon Universit...

1. A system for determining a spatial position of a tool manipulated within a workspace by a human, comprising:
a tracking device designed and configured for tracking at least a portion of the tool during manipulation of the tool by the
human within the workspace to perform a task, the tracking device including:

a working end comprising the tool, wherein the working end is grasped and moved by the human during the manipulation and the
tracking;

a reference end spaced from the working end;
a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom
relative to an adjacent link, wherein the plurality of links are joined to one another with movable joints to form at least
one link set between the reference end and the working end, the link set designed and configured to allow the plurality of
links to move relative to one another as the human grasps and moves the working end during use of the tool to perform the
task;

a plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom as the human grasps and
moves the working end during use of the tool to perform the task, wherein X is a minimum number of degrees of freedom about
which information is required to define the spatial position; and

a processor receiving information from the sensors and determining the spatial position of the working end of the tracking
device relative to the reference end of the tracking device based on information from the sensors measuring Y degrees of freedom,
wherein Y is greater than X.

US Pat. No. 9,413,571

SYSTEM AND METHOD FOR TIME REVERSAL DATA COMMUNICATIONS ON PIPES USING GUIDED ELASTIC WAVES

University of Maryland, ...

1. A data communications method comprising:
in a dispersive multi-modal elastic channel that includes a plurality of sensors, at least two of the sensors capable of both
transmitting and receiving a signal,

probing the dispersive multi-modal elastic channel by transmitting a pilot elastic signal through the dispersive multi-modal
elastic channel from at least one sensor capable of both transmitting and receiving a signal and configured and disposed as
a destination sensor to at least another sensor capable of both transmitting and receiving a signal and configured and disposed
as a source sensor;

receiving the pilot elastic signal at the at least another sensor capable of both transmitting and receiving a signal and
configured and disposed as a source sensor, and time reversing the received pilot elastic signal;

modulating the time reversed elastic signal by pulse position modulation using a training preamble symbol to generate a time
reversed pulse position modulated elastic preamble signal normalized by an energy normalization coefficient;

modulating the time reversed elastic signal by pulse position modulation using an information carrying symbol to form a time
reversed pulse position modulated elastic information carrying signal normalized by the energy normalization coefficient;
and

transmitting from the at least another sensor capable of both transmitting and receiving a signal and configured and disposed
as a source sensor a total waveform that includes the normalized time reversed pulse position modulated elastic preamble signal
followed by the normalized time reversed pulse position modulated information carrying signal to the at least one sensor capable
of both transmitting and receiving a signal and configured and disposed as a destination sensor.

US Pat. No. 9,265,582

ROBOT FOR MINIMALLY INVASIVE INTERVENTIONS

Carnegie Mellon Universit...

23. A robot system for use in a living body, the robot system comprising:
a robot having a prehension device positioned on only one side of the robot configured to attach the robot to a soft tissue
surface of an organ and to move the robot along the soft tissue surface of the organ, the robot further having a streamlined
shell that is configured to prevent interaction with a loosely bound covering over the soft tissue surface of the organ during
movement of the robot;

wherein the prehension device comprises a plurality of suction pads and the robot includes two body sections, each body section
carrying a suction pad;

and a control system configured to turn the robot so as to steer the robot in at least three different selectable directions
across the soft tissue surface of the organ.

US Pat. No. 9,193,758

CONFORMATIONALLY-PREORGANIZED, MINIPEG-CONTAINING ?-PEPTIDE NUCLEIC ACIDS

1. A method for preparing a compound according to Formula I, comprising:

(i) contacting the compound of Formula II

with a compound according to Formula III

to obtain a compound according to Formula IV

(ii) contacting a compound according to Formula V

with a coupling agent; and
(iii) adding the product of step (ii) to the compound according to Formula IV to obtain the compound of Formula I,
wherein
B is a nucleic acid base selected from adenine, guanine, cytosine, thymine or uracil;
Y is selected from the group consisting of bromine, iodine, 4-toluenesulfonate and methanesulfonate;
R1, R2 and R5 each independently are selected from the group consisting of H, linear or branched (C1-C8)alkyl, (C2-C8)alkenyl, (C2-C8)alkynyl, (C1-C8)hydroxylalkyl, (C3-C8)aryl, (C3-C8)cycloalkyl, (C3-C8)aryl(C1-C6)alkylene, (C3-C8)cycloalkyl(C1-C6)alkylene, ?CH2(OCH2CH2)qOP1, ?CH2—(OCH2—CH2)q—NHP1, —CH2—(OCH2—CH2)q—SP1, and —CH2—(SCH2—CH2S)q—SP1;

R3 and R4 each independently are H;

R6 is selected from the group consisting of H, linear or branched (C1-C8)alkyl, substituted or unsubstituted (C3-C8)aryl and (C3-C8)aryl(C1-C6)alkylene;

P is selected from the group consisting of H, 9-fluorenylmethyloxy carbonyl, Boc, benzyloxycarbonyl, tosylate, benzyl, alloc,
trityl, benzhydryloxycarbonyl (Bhoc), O-nitroveratryloxycarbonyl (Nvoc), 1-(4,4-dimethyl-2,6-dioxacyclohexylidene)ethyl (Dde),
diathiasuccinoyl (Dts), benzothiazole-2-sulfonyl (Bts), dimethoxytrityl and monomethoxytrityl;

P1 is selected from the group consisting of H, (C1-C8)alkyl, (C2-C8)alkenyl, (C2-C8)alkynyl, (C3-C8)aryl, (C3-C8)cycloalkyl, (C3-C8)aryl(C1-C6)alkylene and (C3-C8)cycloalkyl(C1-C6)alkylene; and

n and q are independently integers between 1 and 10 inclusive.

US Pat. No. 9,141,871

SYSTEMS, METHODS, AND SOFTWARE IMPLEMENTING AFFINE-INVARIANT FEATURE DETECTION IMPLEMENTING ITERATIVE SEARCHING OF AN AFFINE SPACE

Carnegie Mellon Universit...

1. A method of matching visual features within a first image with visual features within a second image, comprising:
starting with a coarse sample, automatedly iteratively sampling visual features of each of the first and second images so
as to continually increase sampling density of said sampling; and

continuing said sampling until at least a desired number of unambiguous matches has been found between batches of the visual
features of the first and second images detected in iterations of said iterative sampling;

wherein:
said sampling includes finding discriminative regions of each of the first and second images; and
said finding discriminative regions includes finding extrema of a function.

US Pat. No. 9,052,895

POWER BUDGET ALLOCATION IN MULTI-PROCESSOR SYSTEMS

International Business Ma...

1. A method of allocating a fixed power budget P among a number k of computers arranged in a system to process incoming jobs
collectively, wherein k is greater than one and each of the k computers has an operating state, the method comprising:
determining a desired power state for each of the k computers based on a queuing theoretic model that considers an arrival
rate of the incoming jobs, the fixed power budget P, and the operating state of each of the k computers; and

controlling the operating state of each of the k computers based on its desired power state so that a total power provided
to the k computers does not exceed the fixed power budget P;

wherein the operating state can be 1) a PowMax state having a maximum power and a maximum speed and 2) a PowMin state having
a minimum power and a minimum speed, said determining including determining, as a function of a ratio of the minimum speed
to the minimum power, whether to run a number n of the k computers at the PowMax state or to run a number m of the k computers
at the PowMin state.

US Pat. No. 9,491,684

DENSITY-AWARE ZONE-BASED PACKET FORWARDING IN VEHICULAR NETWORKS

Universidade Do Porto, P...

1. A method for distributed multi-hop packet forwarding based on geographic coordinates for vehicular communications between
nodes, each node having its own geographical coordinates and the geographical coordinates of a destination node of one said
vehicular communication being known, said method comprising each node obtaining its one-hop neighbor nodes' coordinates from
periodically broadcast beacons from said neighbor nodes and said method comprising the steps for each node, at each hop, upon
receiving a packet:
based on the current node's position and packet header information of the packet, verifying if the current node is closer
to the destination than a previous hop; if not, dropping the packet;

ranking a utility of the current node as a forwarder against the utility of potential forwarder nodes which are said one-hop
neighbor nodes that are closer to the destination than the previous hop;

if the current node is one of a predetermined number of best utility ranked forwarder nodes, then considering the current
node as being in a forwarding zone; if not, dropping the packet;

if the current node is in the forwarding zone, waiting a period of time inversely proportional to the current node utility
rank before forwarding the packet;

if, while waiting, the current node overhears another node forwarding the same packet, cancelling the forwarding of the packet;
wherein the packet header comprises three node addresses: original packet source, packet destination, and packet previous
hop, wherein each address includes both the respective node identifier and geographic coordinates,

and wherein said nodes are vehicle nodes or a mix of vehicle nodes and fixed nodes.

US Pat. No. 9,213,885

OBJECT RECOGNIZER AND DETECTOR FOR TWO-DIMENSIONAL IMAGES USING BAYESIAN NETWORK BASED CLASSIFIER

Carnegie Mellon Universit...

1. A computer-implemented method of face recognition in digitized images, comprising:
applying a view-based classifier to a pair of digitized images, wherein the classifier includes a plurality of sub-classifiers;
computing a sum of log-likelihood ratios for each of the plurality of sub-classifiers, each of the log-likelihood ratios including
a ratio of a first graphical probability model representing a probability distribution over image pairs that come from the
same person and a second graphical probability model representing a probability distribution over image pairs that come from
different people, wherein each of the first and second graphical probability models includes a probability distribution over
a set of variables where statistical independence and conditional statistical independence exist among various combinations
of the variables, and wherein the graphical probability model is a probability distribution representation derived from statistical
dependencies among image input variables; and

determining whether the pair of digitized images are images of the same person based on the sum of log-likelihood ratios.

US Pat. No. 9,079,215

MICRO-FIBER ARRAYS WITH TIP COATING AND TRANSFER METHOD FOR PREPARING SAME

Carnegie Mellon Universit...

1. A method to make micro-fiber arrays with tip coating having enhanced adhesion properties in wet and dry environments, the
method comprising the steps of:
preparing an optimized p(DMA-co-MEA) precursor solution for a tip coating material;
preparing structural micropatterned arrays of fibers with geometric tips;
applying uniformly a volume of the tip coating material onto an uncoated surface to form a uniform tip coating layer on a
coated surface;

bringing the geometric tips of the structural micropatterned arrays of fibers in contact with the uniform tip coating layer
of the coated surface;

retracting the geometric tips of the structural micropatterned arrays of fibers from the uniform tip coating layer to form
small droplets of uncured optimized p(DMA-co-MEA) precursor solution on a geometric tip of each fiber of the structural micropatterned
arrays of fibers;

placing the geometric tip of the each fiber of the structural micropatterned arrays of fibers onto a clean surface;
curing the small droplets of uncured optimized p(DMA-co-MEA) precursor solution on the geometric tip of the each fiber of
the structural micropatterned arrays of fibers to form cured geometric tips; and

peeling the geometric tip of the each fiber of the structural micropatterned arrays of fibers from the clean surface after
the geometric tips have cured.

US Pat. No. 9,585,746

ARTIFICIAL VALVED CONDUITS FOR CARDIAC RECONSTRUCTIVE PROCEDURES AND METHODS FOR THEIR PRODUCTION

Carnegie Mellon Universit...

1. A valve structure comprising:
a conduit comprising an inner conduit surface; and
a multi-leaflet structure having an open state and a closed state comprising:
a first valve leaflet, comprising a first sinus structure having a first sinus edge and a first fan structure having a first
fan edge, wherein at least a portion of the first sinus edge is affixed to the inner conduit surface;

a second valve leaflet, comprising a second sinus structure having a second sinus edge and a second fan structure having a
second fan edge, wherein at least a portion of the second sinus edge is affixed to the inner conduit surface; and

a commissure disposed between the first valve leaflet and the second valve leaflet,
wherein at least a portion of the first fan edge, at least a portion of the second fan edge, and at least a portion of the
inner conduit surface are mutually disposed to form a valve gap in the closed state of the multi-leaflet structure.

US Pat. No. 9,536,427

METHODS AND SOFTWARE FOR MANAGING VEHICLE PRIORITY IN A SELF-ORGANIZING TRAFFIC CONTROL SYSTEM

Carnegie Mellon Universit...

1. A method of managing vehicle priority proximate to a potential travel-priority conflict zone, the method being executed
in a dynamic traffic control system and comprising:
communicating with a first component of the dynamic traffic control system located on-board a vehicle proximate to the potential
travel-priority conflict zone so as to establish a dynamic traffic control plan for avoiding a travel-priority conflict in
the potential travel-priority conflict zone;

coordinating with the first component of the dynamic traffic control system via said communicating to elect a dynamic traffic
controller as a temporary coordinator vehicle responsible for temporarily coordinating the dynamic traffic control plan;

receiving a priority-request message from a priority vehicle;
determining a travel direction of the priority vehicle;
comparing the travel direction of the priority vehicle to a travel direction of a non-priority vehicle proximate to the potential
travel-priority conflict zone;

transmitting a priority-granted message to the priority vehicle when the travel direction of the priority vehicle and the
travel direction of the non-priority vehicle proximate to the potential travel-priority conflict zone differ; and

providing traffic control instructions to an operator of the priority vehicle via a visual or audio indication produced in
the priority vehicle as a function of the priority-granted message.

US Pat. No. 9,445,711

SYSTEM AND METHOD TO MAGNETICALLY ACTUATE A CAPSULE ENDOSCOPIC ROBOT FOR DIAGNOSIS AND TREATMENT

CARNEGIE MELLON UNIVERSIT...

1. A compliant capsule endoscopic robot for diagnosis and treatment comprising:
a first head having a recess with an outwardly oriented open end and an exterior surface, wherein the recess is sized to receive
an internal permanent magnet;

a second head having an exterior surface;
a plurality of side linkages made of resilient material capable of elastic deformation under a preload to return to an original
shape upon the removal of the preload,

wherein each side linkage of the plurality of side linkages includes a first end and a second end,
wherein the first end of the each side linkage of the plurality of side linkages is fixedly attached to the exterior surface
of the first head,

wherein the second end of the each side linkage of the plurality of side linkages is fixedly attached to the exterior surface
of the second head, thereby causing aligned traversal of the first head and the second head along an axis and towards a center
of the compliant capsule when the plurality of side linkages deform under the preload; and

only a single internal permanent magnet disposed in the recess of the first head.

US Pat. No. 9,340,708

METHODS OF FORMING DRY ADHESIVE STRUCTURES

Carnegie Mellon Universit...

1. A method of forming a dry adhesive with a structure including a backing layer and a stem, wherein the stem includes first
and second ends on opposite sides of the stem, and wherein the first end of the stem is connected to the backing layer, comprising:
applying a first liquid polymer to the second end of the stem;
molding the first liquid polymer on the second end of the stem in a first mold;
curing the first liquid polymer in the first mold to form a plurality of fibers extending from the second end of the stem;
and

removing the plurality of fibers from the first mold after the first liquid polymer cures.

US Pat. No. 9,314,557

MAGNETICALLY-LEVITATED BLOOD PUMP WITH OPTIMIZATION METHOD ENABLING MINIATURIZATION

Worldheart Corporation, ...

1. A magnetically-levitated blood pump, said blood pump comprising:
an inflow end providing for entry of blood;
an outflow end providing for exit of said blood;
a first sensor coil located at a blood flow convergence adjacent said inflow end, and a second sensor coil located at a blood
flow divergence adjacent said outflow end;

a stator oriented in axial alignment with, and located between, said inflow end and said outflow end, and including a magnetic
gap Sr, a plurality of stator permanent magnets, at least one voice coil, and a motor coil;

a rotor centered within said stator, and including a radius Rr and a plurality of rotor permanent magnets, the rotor adapted
for supercritical operation;

a first permanent magnet bearing arranged near said inflow end to radially stabilize and center the rotor, and formed from
a first portion of said stator permanent magnets and a first corresponding portion of said rotor permanent magnets;

a second permanent magnet bearing arranged near said outflow end to radially stabilize and center the rotor, and formed from
a second portion of said stator permanent magnets and a second corresponding portion of said rotor permanent magnets;

a motor magnet for interaction with said motor coil, and formed from a third corresponding portion of said rotor permanent
magnets;

a fourth corresponding portion of said rotor permanent magnets for interaction with said at least one voice coil, said at
least one voice coil configured to additionally interact with said first corresponding portion of said rotor permanent magnets
to stabilize the rotor in an axial direction; and

a fluid gap Wg defined by the magnetic gap Sr minus the rotor radius Rr,
wherein the supercritical operation of the rotor and the fluid gap Wg provides for the blood pump to be adapted for miniaturization
and for minimally-invasive implantation.

US Pat. No. 9,311,564

FACE AGE-ESTIMATION AND METHODS, SYSTEMS, AND SOFTWARE THEREFOR

Carnegie Mellon Universit...

1. A method of generating a face age-estimation for a face represented by first image data as a function of faces represented
by second image data and having assigned landmark points and known ages, the method comprising:
receiving, by a face age-estimation system, the first image data;
applying, by the face age-estimation system, a contourlet appearance model (CAM) algorithm to the first image data so as to
generate a first feature vector;

executing, by the face age-estimation system, an age classifier on the first feature vector so as to identify an estimated
age group for the face represented by the first image data as a function of the assigned landmark points of the second image
data; and

applying, by the face age-estimation system, an aging function to the first feature vector so as to generate the face age-estimation
as a function of the assigned landmark points of the second image data.

US Pat. No. 9,300,301

NONVOLATILE MAGNETIC LOGIC DEVICE

Carnegie Mellon Universit...

1. A nonvolatile magnetic logic device, comprising:
an electrically insulating layer;
a write path adjacent to a first side of the electrically insulating layer, the write path comprising:
a plurality of write path terminals; and
a magnetic layer having a uniform magnetization direction that is indicative of a direction of magnetization of the magnetic
layer in a steady state;

wherein a logic state is written to the nonvolatile magnetic logic device by passing a current through the plurality of write
path terminals;

wherein the direction of magnetization of the magnetic layer represents the logic state of the nonvolatile magnetic logic
device; and

wherein the direction of magnetization is configured to be controlled by a direction of the current passed through the plurality
of write path terminals; and

a read path that is adjacent to a second side of the electrically insulating layer, the read path comprising a plurality of
read path terminals for evaluation of the logic state;

wherein the electrically insulating layer promotes electrical isolation between the read path and the write path and magnetic
coupling of the read path to the write path, wherein the electrical isolation between the read path and the write path and
the magnetic coupling promote passing of the current through the plurality of write path terminals, while the logic state
is evaluated among the plurality of read path terminals.

US Pat. No. 9,467,647

MULTIPLE RESOLUTION VIDEO NETWORK WITH CONTEXT BASED CONTROL

Carnegie Mellon Universit...

1. A system, comprising:
a plurality of multiple resolution cameras, wherein each of the plurality of multiple resolution cameras has a single type
of image sensor and is configured for:

communicably receiving resolution selection instructions;
detecting a presence of a predefined object of interest within a single frame of a captured image;
generating location information describing a location of the predefined object of interest within the captured image;
generating a first image at a first resolution comprising at least a first portion of the captured image;
generating a second image at a second resolution comprising at least a second portion of the captured image, the second portion
including the detected predefined object of interest, wherein the first resolution is lower than the second resolution;

communicably sending composite information, wherein the composite information comprises the first image, the second image
and the location information; and

a computing device communicably connected to the plurality of multiple resolution cameras, wherein the computing device is
configured for:

receiving a first composite information comprising the composite information from one of the plurality of multiple resolution
cameras;

generating user focus information;
generating a display image including a multiple resolution composite image based on the first composite information, wherein
each portion of the multiple resolution composite image is generated at the same frame rate; and

generating the resolution selection instructions in response to the user focus information; and
communicably sending the resolution selection instructions to one or more of the plurality of multiple resolution cameras;
and

a display device communicably connected to the computing device, the display device being configured to display at least the
display image.

US Pat. No. 9,443,128

SEGMENTING BIOLOGICAL STRUCTURES FROM MICROSCOPY IMAGES

Carnegie Mellon Universit...

1. A method performed by one or more processors, comprising:
receiving an image to be segmented into one or more representations of one or more biological structures;
accessing data representing a set of biological structures that are derived from other biological structures delineated in
a training image, wherein the training image is associated with a level of modality that corresponds to a level of modality
associated with the image to be segmented;

computing a normalized cross correlation of the received image against one or more of the biological structures in the set
of biological structures;

generating, based on computing, seed data representing an estimate of a spatial organization of the one or more biological
structures in the received image; and

segmenting, based on a normalized cross correlation of the received image to the seed data, the received image into the one
or more representations of the one or more biological structures.

US Pat. No. 9,246,549

DIELECTRIC RESONATOR DRIVEN NEAR FIELD TRANSDUCER

Carnegie Mellon Universit...

1. An optical device, comprising
a near field transducer; and
a dielectric resonant structure coupled to the near field transducer;
wherein the dielectric resonant structure comprises a dielectric material that decreases a dissipation of energy in the dielectric
resonant structure, relative to other dissipations of energy associated with other materials; and

wherein the decrease in the dissipation of energy increases an efficiency of energy transfer from the near field transducer
to a target structure, relative to other efficiencies of energy transfer from the near field transducer to the target structure.

US Pat. No. 9,171,226

IMAGE MATCHING USING SUBSPACE-BASED DISCRETE TRANSFORM ENCODED LOCAL BINARY PATTERNS

Carnegie Mellon Universit...

1. A method of matching first features of first image data with second features of second image data, comprising:
receiving, by a feature-matching system, the first image data;
applying, by the feature-matching system, a discrete transform to a region of the first image data containing the first features
so as to generate a first set of transform coefficients;

executing, by the feature-matching system, a local binary pattern (LBP) encoding algorithm to encode the first set of transform
coefficients into a set of first encoded data streams;

converting, by the feature-matching system, each of the first encoded data streams into a decimal number so as to create a
first decimal-number representation of the region of the first image data; and

executing, by the feature-matching system, a matching algorithm for determining a match as a function of the first decimal
number representation and a second decimal representation of a region of the second image data containing the second features.

US Pat. No. 9,281,112

REMOTELY ADDRESSABLE MAGNETIC COMPOSITE MICRO-ACTUATORS

Carnegie Mellon Universit...

10. A team of actuators comprising a plurality of actuators,
wherein each actuator of the plurality of actuators comprises a composite made of two magnetic materials,
wherein a first magnetic material of the two magnetic materials has a switchable first magnetic material magnetization direction
in the presence of a field pulse greater than a coercivity field of the first magnetic material,

wherein a second magnetic material of the two magnetic materials has a switchable second magnetic material magnetization direction
in the presence of a field pulse greater than a coercivity field of the second magnetic material.

US Pat. No. 9,410,020

PROCESSABLE SELF-ORGANIZING NANOPARTICLE

CARNEGIE MELLON UNIVERSIT...

1. A method of forming a composition comprising adding together a plurality of particle brush systems wherein each of the
particle brush systems comprises a particle and a polymer brush comprising a plurality of polymer chains attached to the particle,
wherein the plurality of polymer chains of the polymer brush exhibit modeled variable chain conformations as the degree of
polymerization of the polymer chains increases so that the polymer brush comprises a concentrated polymer brush region with
stretched polymer chains and a semi-dilute polymer brush region with relaxed chains that is radially outside of the concentrated
polymer brush region, wherein the degree of polymerization of the polymer brush is no less than 10% less than a critical degree
of polymerization and no more than 20% greater than the critical degree of polymerization, wherein the critical degree of
polymerization is defined as the degree of polymerization required to achieve a transition from the concentrated polymer brush
region to the semi-dilute polymer brush region.
US Pat. No. 9,359,653

HIGH TOUGHNESS SECONDARY HARDENING STEEL

Carnegie Mellon Universit...

1. A steel alloy, comprising:
iron in a wt. % from about 85 to about 92;
carbon in a wt. % from about 0.2 to about 0.5;
chromium in a wt. % from about 4 to about 5.5;
molybdenum in a wt. % from about 1 to about 3.5;
tungsten in a wt. % from about 0.1 to 3.0;
vanadium in a wt. % from about 0.3 to about 0.75;
nickel in a wt. % from about 0.5 to about 3.5;
0 wt. % to about 0.05 wt. % Cobalt; and
wherein the alloy has a KIc fracture toughness of at least about 100 MPa?m, a Charpy Impact Energy of about 35 Joules, and a Stage II crack growth rate
of less than about 50 nm/second.

US Pat. No. 9,221,863

TRANSIENTLY BONDING DRAG-TAGS FOR SEPARATION MODALITIES

CARNEGIE MELLON UNIVERSIT...

1. A method of transiently attaching a drag-tag to a nucleic acid, comprising:
a. elongating a nucleic acid primer on a nucleic acid template, the primer comprising a lipophilic moiety covalently attached
to a nucleic acid, thereby forming a hydrophobically-labeled nucleic acid; and

b. moving the hydrophobically-labeled nucleic acid through a running buffer comprising a drag-tag, wherein the drag-tag comprises
a structure, and wherein the structure comprises a surfactant, a polymer or a combination thereof, wherein the lipophilic
moiety is an alkyl group.

US Pat. No. 9,622,821

SYSTEM AND METHOD FOR STRUCTURE-FUNCTION FUSION FOR SURGICAL INTERVENTIONS

Carnegie Mellon Universit...

1. A method for aiding cardiac and other surgical interventions comprising:
acquiring at least one medical imaging data set representative of at least one biological sample,
wherein the biological sample comprises at least one structure, and
wherein each medical imaging data set comprises volume image data comprising a plurality of voxels representative of data
in at least three dimensions and wherein each volume image comprises a plurality of two-dimensional image planes comprising
a plurality of pixels;

segmenting a first set of volume image data comprising a plurality of voxels associated with at least one structure of the
biological sample to generate a surface comprising a plurality of points;

selecting a second set of volume image data comprising a plurality of voxels associated with at least one characteristic of
the biological sample, wherein the characteristic is a magnitude of at least one physically relevant parameter of the sample,
wherein the magnitude is expressed as at least one color;

selecting a plurality of spatial fiducial markers on the surface and a plurality of spatial fiducial markers on the second
set of volume image data;

applying at least one rigid transformation to spatially transform the second set of volume image data into a virtual spatial
location comprising the segmented structure using the plurality of spatial fiducial markers;

applying at least one non-rigid transformation to warp at least a portion of the second set of volume image data onto the
surface;

applying at least one nearest neighbor algorithm to correlate each of a plurality of points of the surface with at least one
voxel associated with the second set of volume image data; and

re-sampling the second set of volume image data onto the surface at each of a plurality of points based on this correlation
to generate a fused image, wherein the fused image comprises a color image representative of the surface, wherein each color
is indicative of at least one characteristic at that location in the biological sample.

US Pat. No. 9,591,964

STEERABLE, FOLLOW THE LEADER DEVICE

Carnegie Mellon Universit...

1. A system comprising:
a highly articulated robotic probe comprising:
a first mechanism comprising a plurality of first links, and
a second mechanism comprising a plurality of second links, wherein the second mechanism is configured to surround at least
a portion of the first mechanism;

a feeder mechanism configured to advance and retract the highly articulated robotic probe; and
a computing device in communication with the feeder mechanism, wherein the computing device is configured to:
receive two-axis data from an input device,
translate the two-axis position data into three-axis coordinate system data, and
adjust a position of one or more second mechanism motors based on the three-axis coordinate system data.

US Pat. No. 9,553,163

METAL-SEMICONDUCTOR-METAL (MSM) HETEROJUNCTION DIODE

Carnegie Mellon Universit...

1. A diode, comprising:
a semiconductor layer having a first side and a second side opposite the first side, the semiconductor layer having a thickness
between the first side and the second side, the thickness of the semiconductor layer being comparable to a mean free path
of a charge carrier emitted into the semiconductor layer;

a first metal layer on the first side of the semiconductor layer;
a second metal layer on the second side of the semiconductor layer; and
a first heterojunction between the semiconductor layer and the first metal layer or between the semiconductor layer and the
second metal layer, wherein the semiconductor layer, the first metal layer, and the second metal layer are configured for
the charge carrier to perform ballistic conduction from the first metal layer, through the semiconductor layer and to the
second metal layer.

US Pat. No. 9,543,423

HOT-ELECTRON TRANSISTOR HAVING MULTIPLE MSM SEQUENCES

Carnegie Mellon Universit...

1. A transistor, comprising:
a first metal-semiconductor-metal sequence comprising a metal emitter, a first semiconductor barrier and a metal base;
wherein the first semiconductor barrier separates the metal emitter and the metal base, with the first semiconductor barrier
having an average thickness being based on a first mean free path of a charge carrier in the first semiconductor barrier emitted
from the metal emitter; and

a second metal-semiconductor-metal sequence comprising the metal base, a second semiconductor barrier, and a metal collector,
wherein the first and the second metal-semiconductor-metal sequences at least partially overlap with each other to share the
metal base;

wherein the second semiconductor barrier separates the metal base from the metal collector, with the second semiconductor
barrier having an average thickness being based on a second mean free path of the charge carrier in the second semiconductor
barrier injected from the metal base;

wherein one or more of the first metal-semiconductor-metal sequence and the second metal-semiconductor-metal sequence increases
a carrier transmission rate from the metal emitter to the metal collector, relative to another carrier transmission rate of
the metal emitter to another type of collector;

wherein the metal base comprises two or more metal layers and an average thickness of the metal base is based on a multi-layer
mean free path of the charge carrier; and

wherein the average thickness of the metal base is one or more of (i) less than the multi-layer mean free path of the charge
carrier in transiting the layers of the metal base, and (ii) comparable to the multi-layer mean free path of the charge carrier
in transiting the layers of the metal base.

US Pat. No. 9,408,571

APPARATUS AND METHOD FOR IMPLANTATION OF DEVICES INTO SOFT TISSUE

Carnegie Mellon Universit...

1. A method to insert a device into tissue of a patient, the method comprising the steps of:
a. loading the device for implantation into a clamping mechanism connected to an actuator, wherein the device comprises one
or more implantation shanks that will form one or more implantation sites on the tissue when implanted into the tissue;

b. referencing a position of the device with respect to the actuator;
c. locating an implantation vicinity of the tissue;
d. identifying an initial implantation location within the implantation vicinity;
e. capturing a raw image of a field of view of the implantation vicinity, wherein the initial implantation location is contained
within the field of view;

f. referencing a surface of the tissue in the field of view with respect to the actuator;
g. analyzing a portion of the raw image containing the initial implantation location to generate a map of sensitive structures
in the tissue that could be damaged by the one or more implantation shanks of the device at the initial implantation sites
during implantation to form one or more initial implantation sites;

h. comparing the one or more initial implantation sites of the device with the map of the sensitive structures in the tissue
to determine severity of damage to the tissue;

i. virtually reorienting the one or more initial implantation sites to one or more subsequent implantation sites to form a
subsequent implantation location;

j. comparing the one or more subsequent implantation sites of the device with the map of the sensitive structures in the tissue
to determine severity of damage to the tissue;

k. repeating steps i and j until every horizontal and angular position in the field of view has a computed severity of damage
to form a plurality of severity of damage calculations;

l. identifying an optimal implantation location from the plurality of severity of damage calculations;
m. adjusting the device to the optimal implantation location;
n. actuating the device to be implanted along a single, longitudinal axis toward the optimal implantation location through
a distance that is determined based on a depth of the device in the tissue and the instantaneous distance between the actuator
and the surface of the tissue;

o. detecting an actual point and an actual time of contact between the surface of the tissue and the device;
p. applying an adjustment to the distance the actuator will travel and a speed it is travelling based on a comparison of an
expected point and an expected time of contact calculated using the referenced positions of the actuator and the tissue surface
and a programmed speed of the actuator and the actual point and the actual time of contact measured during the implantation;

q. measuring a force between the device and the surface of the tissue during implantation;
r. applying an adjustment to the distance the actuator will travel and the speed the actuator is travelling based on a comparison
of an expected force during implantation based on experimental data for the tissue into which the device is being implanted
and the actual force measured during implantation of the device;

s. releasing the device that was implanted after it has reached its target depth in the tissue by retracting the clamping
surfaces from the device;

t. retracting the actuator; and
u. recording data that was collected during implantation of the device so it can be used for diagnostic purposes.

US Pat. No. 9,120,953

METHODS OF FORMING DRY ADHESIVE STRUCTURES

Carnegie Mellon Universit...

1. A method of forming a dry adhesive with a structure including a backing layer and a stem, wherein the stem includes first
and second ends on opposite sides of the stem, and wherein the first end of the stem is connected to the backing layer, comprising
the method steps of:
applying a liquid polymer to the second end of the stem;
inserting a plurality of fibers into the liquid polymer on the second end of the stem, wherein each fiber of the plurality
of fibers has a cross-sectional area that is less than a cross-sectional area of the second end of the stem; and

curing the liquid polymer with the plurality of fibers embedded in the liquid polymer.

US Pat. No. 9,478,142

RAILWAY TRANSPORT MANAGEMENT

Carnegie Mellon Universit...

1. A method comprising: receiving, at an interface of a first rolling stock, one or more communications transmitted from one
or more second rolling stock, with a railroad network comprising the first rolling stock and the one or more second rolling
stock, wherein the interface is in communication with one or more processors of the first rolling stock:
responsive to receiving the one or more communications,
executing, by the one or more processors of the first rolling stock, one or more of a local rule and a global rule, with the
local rule pertaining to movement of rolling stock over a portion of a track in the railroad network, and with the global
rule pertaining to movement of the rolling stock over portions of multiple tracks in the railroad network; determining, based
on executing, a speed for the first rolling stock relative to a speed of at least one of the one or more second rolling stock;
and

automatically controlling, by the one or more processors of the first rolling stock, a speed of the first rolling stock in
accordance with the determined speed, wherein controlling promotes avoidance of a collision between the first rolling stock
and the at least one of the one or more second rolling stock.

US Pat. No. 9,439,438

METHODS AND COMPOSITIONS FOR REDUCING SHIGA TOXIN INDUCED TOXICITY IN MAMMALS

Carnegie Mellon Universit...

1. A method of reducing Shiga toxin (STx)-induced toxicity in a mammal infected with STx-producing bacteria, said method comprising
administering to said infected mammal a manganese composition comprising from about 0.002 mg/kg of body weight to about 50
mg/kg of body weight of manganese.

US Pat. No. 9,153,689

INTEGRATED CIRCUIT DEVICE, SYSTEM, AND METHOD OF FABRICATION

Carnegie Mellon Universit...

1. A device defined in a semiconductor layer having a top surface, a bottom surface and a width therebetween, said device
comprising:
a semiconductor portion defining a first end, a second end, and a semiconductor slit portion between said first end and said
second end, wherein said first end, said second end and said slit portion each define side walls on opposite sides of said
first end, said second end and said slit portion, and further wherein said first end defines an end wall between said side
walls of said first end and said second end defines an end wall between said side walls of said second end, wherein the cross
sectional shape of said side walls and said end walls in a plane parallel to said top and bottom surfaces is an arc;

a first gate connected to said semiconductor portion at one side wall of said slit portion, said first gate defining side
walls on opposite sides thereof, a connecting wall where said first gate portion connects to said semiconductor portion, and
a contact wall opposite said connecting wall, wherein the cross-sectional shape of said side walls, said connecting wall and
said contact wall of said first gate in a plane parallel to said top and bottom surfaces is an arc;

a second gate connected to said semiconductor portion at a side wall of said slit portion opposite said first gate, said second
gate defining side walls on opposite sides thereof, a connecting wall where said second gate connects to said semiconductor
portion, and a contact wall opposite said connecting wall, wherein the cross-sectional shape of said side walls, said connecting
wall and said contact wall of said second gate in a plane parallel to said top and bottom surfaces of said device is an arc;

a first contact connected to said end wall of said first end of said semiconductor portion, said first contact having an outer
wall, wherein the cross sectional shape of said outer wall of said first contact in a plane parallel to said top and bottom
surfaces is a circle; and

a second contact connected to said end wall of said second end of said semiconductor portion, said second contact having an
outer wall, wherein the cross sectional shape of said outer wall of said second contact in a plane parallel to said top and
bottom surfaces is a circle;

wherein all walls of said semiconductor portion, said first gate, said second gate and said outer walls of said first and
second contacts extend from said top surface to said bottom surface.

US Pat. No. 9,566,043

SENSOR GUIDED CATHETER NAVIGATION SYSTEM

Carnegie Mellon Universit...

1. A computer-implemented method, comprising:
receiving an ultrasound image of a heart, the ultrasound image being acquired from within the heart by a catheter comprising
a position sensor;

capturing a plurality of four-dimensional (4D) surface registration points corresponding to points on the heart based on the
ultrasound image of the heart and position data acquired by the position sensor associated with the position of the catheter
when the ultrasound image was acquired by the catheter; and

registering, in space and time, a high resolution 4D model of the heart with the plurality of 4D surface registration points;
wherein the model is separate from the ultrasound image.

US Pat. No. 9,524,767

BITCELL WTH MAGNETIC SWITCHING ELEMENTS

Carnegie Mellon Universit...

1. A bitcell comprising:
a first magnetic switching cell to receive a data bit; and
a buffer comprising a second magnetic switching cell to receive a bitline value,
wherein the buffer is configured to transfer, in response to a receipt of a signal, the bitline value from the buffer to the
first magnetic switching cell as the data bit for a later read operation.

US Pat. No. 9,584,571

SYSTEM AND METHOD FOR CAPTURING, EDITING, SEARCHING, AND DELIVERING MULTI-MEDIA CONTENT WITH LOCAL AND GLOBAL TIME

Carnegie Mellon Universit...

1. A method for storing acquisition streams produced by a plurality of capture devices, comprising:
receiving, at a server, a local acquisition stream from one of a plurality of capture devices, wherein the local acquisition
stream received at the server includes local time indicia based on a local time including a local start time, wherein the
local time differs from a global time;

incorporating the local acquisition stream into a global timeline at the server based on said global time, wherein said incorporating
includes:

determining a difference between the local time and the global time;
shifting the local start time relative to the global timeline based on the determined difference; and
updating the global timeline to include data associated with the local acquisition stream based on the shifted local start
time;

incorporating a second acquisition stream into the global timeline; and
storing the global timeline in a computer-readable memory.

US Pat. No. 9,558,748

METHODS FOR HYBRID GPU/CPU DATA PROCESSING

CARNEGIE MELLON UNIVERSIT...

1. A computer-implemented statistical-inference method for graph-traversal used for speech recognition, comprising the method
steps of:
providing a computing platform comprising at least one Central Processing Unit (CPU) and at least one Graphical Processing
Unit (GPU);

initializing likelihoods;
capturing a sample for an input signal, wherein the sample comprises a unit of speech;
computing sample features from the sample;
using the GPU, computing observation likelihoods for each of the sample features based on at least one of acoustic model and
a language model;

using the GPU, updating likelihoods based on observation likelihoods for the each of the sample features and likelihoods in
previous time step to form a set of partial hypotheses, wherein each partial hypothesis of the set of partial hypotheses comprises
a sequence of tokens from the at acoustic model or language model that potentially matches the unit of speech;

using the CPU, computing likelihood corrections for each partial hypothesis of the set of partial hypotheses;
using the GPU, updating likelihoods for the each partial hypothesis of the set of partial hypotheses;
synchronizing a first back-track table on the CPU to match a second back-track table on the GPU: and
performing back-track on the set of updated partial hypotheses and determining a most likely partial hypothesis of the set
of updated partial hypotheses.

US Pat. No. 9,542,559

DETECTING EXPLOITABLE BUGS IN BINARY CODE

Carnegie Mellon Universit...

1. A system comprising:
a hardware memory; and
one or more hardware processors coupled to the hardware memory and configured to perform operations comprising:
selecting a portion of a symbolic memory resource based on an analysis of symbolic memory cells of the symbolic memory resource;
by symbolic execution, determining a set of values that are referenced by the selected portion of the symbolic memory resource;
performing symbolic execution of a target program by utilizing the determined set of values that are referenced by the selected
portion of the symbolic memory resource, the performing of the symbolic execution including causing the symbolic execution
to switch from a first mode to a second mode, the first mode using multiple interpreters at a branch point in the execution
path and continuing the symbolic execution after the branch point without symbolic re-execution of any portion of the execution
path prior to the branch point, the second mode initiating a separate symbolic execution of the target program in response
to the branch point in the execution path; and

creating an input formula for the target program based on the performed symbolic execution that switched from the first mode
to the second mode.

US Pat. No. 9,177,153

VERIFYING INTEGRITY AND GUARANTEEING EXECUTION OF CODE ON UNTRUSTED COMPUTER PLATFORM

Carnegie Mellon Universit...

1. A software-based method for establishing untampered execution of a target executable in memory of an untrusted computer,
comprising:
calculating, on a trusted computer, the time for a verification function using a nonce as input to execute on said untrusted
computer;

sending said nonce from said trusted computer to the untrusted computer;
running said verification function on the untrusted computer, said verification function using said nonce as an input, said
verification function being run on memory containing at least the verification function and producing one or more results;

sending the results to the trusted computer;
determining, at the trusted computer, whether the results are correct;
determining, at the trusted computer, whether the execution of said verification function on said untrusted computer has taken
the calculated amount of time; and

indicating, at the trusted computer, if the results are correct and if the verification function has taken the calculated
time to execute, that the untrusted

computer has an untampered execution environment;
wherein determining whether the verification function and the target executable are unmodified from a value expected by the
trusted computer includes:

using the verification function to determine a checksum over memory that includes the verification function;
sending the checksum value to the trusted computer;
determining at the trusted computer whether the checksum value is correct; and
determining at the trusted computer whether the checksum value is received within an expected elapsed time period;
using the verification function to compute a cryptographic hash over memory that contains the target executable;
sending the hash value to the trusted computer; and
determining at the trusted computer whether the hash value is correct.

US Pat. No. 9,527,115

COMPUTER VISION AND MACHINE LEARNING SOFTWARE FOR GRADING AND SORTING PLANTS

Carnegie Mellon Universit...

1. A method to recognize and classify a bare-root plant on a surface, comprising the steps of:
receiving from an imaging device a continuous output of raw image data of several bare-root plants passing through a field
of view of the imaging device,

wherein each of the several bare-root plants are arbitrarily disposed on the surface and positioned between the surface and
the imaging device;

wherein the surface is horizontal and each of the several bare-root plants is lying flat on the surface; and
wherein an orientation of each of the several bare-root plants on the surface is not uniform;
identifying a single bare-root plant in the raw image data by detecting and extracting a region in the raw image data corresponding
to the single plant;

classifying each pixel of the bare-root plant identified in the raw image data to form a classified bare-root image based
on trained parameters, comprising:

generating a vector of scores for each pixel of the classified bare-root image; and
identifying a plurality of sub-parts of the bare-root plant based at least on the vector of scores and the trained parameters;
evaluating the classified bare-root image based on trained features to assign the bare-root plant to a configured category;
and

sorting the bare-root plant based on the assigned configured category as it moves from the field of view, using a sorting
device in communication with a vision system.

US Pat. No. 9,501,779

AUTOMATED THUMBNAIL SELECTION FOR ONLINE VIDEO

CARNEGIE MELLON UNIVERSIT...

1. An automated method for determining an optimal video frame from a video stream comprising a plurality of video frames generating
affective perceptions, the method comprising:
analyzing, via a processing device, each of said video frames to identify frames containing content generating neutral affective
perceptions;

analyzing, via a processing device, each of said video frames containing content generating neutral affective perceptions
to obtain data indicative of a desired property for each video frame containing content generating neutral affective perceptions;

identifying one or more of said video frames containing content generating neutral affective perceptions having a level of
said desired property above a predetermined threshold level; and

designating the one or more identified video frames as the optimal video frames.

US Pat. No. 10,069,635

METHODS AND SYSTEMS FOR ACHIEVING SYSTEM-LEVEL COUNTERFEIT PROTECTION IN INTEGRATED CHIPS

CARNEGIE MELLON UNIVERSIT...

1. A method of using a scan chain in an integrated circuit as a physically unclonable function, the method comprising:initiating a power-up of a scan chain in an integrated circuit;
performing a plurality of power-up cycles;
observing a power-up state of the scan chain after each power-up cycle by accessing the scan chain via a scan chain shift register,
wherein the testing functionality of the scan chain is preserved; and
identifying a stable subset of the scan chain based on the observed power-up state after each power-up cycle,
wherein the stable subset of the scan chain represents a stable group of scan elements that revert to the same power-up state after substantially each power-up cycle of the plurality of power-up cycles,
wherein the stable subset is unique to the integrated circuit.

US Pat. No. 9,532,504

CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE

CARNEGIE MELLON UNIVERSIT...

8. A method of controlling a position of a discharge spout of a forage harvester to distribute material into a container of
a transfer vehicle during material unloading comprising the steps of:
a. aligning an indicator with an image of a predetermined location of the container on a display, wherein the indicator is
in communication with the discharge spout;

b. aligning the discharge spout with the predetermined location of the container based on alignment of the indicator in step
(a);

c. capturing features of the container in proximity of the predetermined location of the container;
d. receiving GPS coordinates for the forage harvester and the transfer vehicle;
e. computing a relative location of the front edge of the container with respect to the forage harvester based on the captured
features of the predetermined location of the container;

f. computing a relative location X1 of the forage harvester and the transport vehicle based on their respective GPS coordinates;

g. computing a relative location of the front edge of the container to the transport vehicle from the GPS coordinates of the
transport vehicle and the captured features of the front edge of the container to form an offset X2;

h. receiving subsequent GPS coordinates of the forage harvester and the transport vehicle;
i. combining the subsequent GPS coordinates with the offset X2 of the container with respect to the transport vehicle to calculate a new relative location (X1+X2) of the front edge of the container with respect to the forage harvester; and

j. repeating steps h, and i until material unloading is terminated.

US Pat. No. 9,883,167

PHOTOMETRIC THREE-DIMENSIONAL FACIAL CAPTURE AND RELIGHTING

Disney Enterprises, Inc.,...

1. A method for generating a three-dimensional surface, comprising:
capturing a plurality of images of a target object with at least two cameras, the target object illuminated by at least two
sets of red-green-blue (RGB) lights positioned in an array about the target object; and

generating a three-dimensional surface of the target object by iteratively reconstructing a surface estimate of the target
object and aligning images of the target object using motion estimation until the images converge, wherein the images are
processed in n-frame intervals.

US Pat. No. 9,939,394

PROCESS MAPPING OF COOLING RATES AND THERMAL GRADIENTS

Carnegie Mellon Universit...

1. A method of controlling microstructural features in additive manufacturing, the method comprising:conducting a plurality of tests of an additive manufacturing process, each test conducted at a different combination of at least a first process variable and a second process variable for a structure having a predetermined structure geometry, each test comprising:
locally heating a region of the structure, wherein the local heating results in formation of a thermal field in the structure having the predetermined structure geometry; and
assessing a temperature derivative of the thermal field;
based on results of the plurality of tests, generating a process map of the temperature derivative of the thermal field for the structure having the predetermined structure geometry, with the temperature derivative based on a function of the first process variable, the second process variable, and the predetermined structure geometry; and
controlling, for the additive manufacturing process, a microstructure formation of a region of the structure having the predetermined structure geometry, the controlling being in accordance with the first and second process variables, to generate a thermal gradient in the structure according to the process map.

US Pat. No. 9,725,601

CARBON NANOTUBE AEROGELS, COMPOSITES INCLUDING THE SAME, AND DEVICES FORMED THEREFROM

Carnegie Mellon Universit...

19. An aerogel comprising:
a three-dimensional network comprising carbon nanotubes, the network defining voids between the carbon nanotubes and nodes
at which two of the carbon nanotubes in the network directly contact each other; and

graphene is formed on the nodes which are located throughout the three-dimensional network to yield an elastic aerogel.

US Pat. No. 9,926,592

GAMMA-PNA MINIPROBES FOR FLUORESCENT LABELING

CARNEGIE MELLON UNIVERSIT...

1. A kit for detecting a telomeric DNA in a cell sample, comprising (A) a receptacle that contains a mini-PEG modified ?PNA miniprobe that hybridizes with the telomeric DNA, and (B) a receptacle that contains a diluent suitable for hybridization,wherein the mini-PEG modified ?PNA miniprobe comprises at least one PNA monomer that is a mini-PEG modified ?PNA monomer having the structure

wherein Base is a nucleobase.
US Pat. No. 9,659,210

SYSTEM AND METHOD FOR DETECTING AND TRACKING FACIAL FEATURES IN IMAGES

Carnegie Mellon Universit...

1. A system for detecting and tracking features in a series of images of an object, comprising:
a camera;
a microprocessor, in communication with said camera, said microprocessor running software for performing, for each image,
the functions of:

(a) detecting the presence of said object in said image and placing said object in a bounding box;
(b) applying an average model consisting of a plurality of landmarks to the center of said bounding box;
(c) using multiple applications of a regression function to update said landmarks by mapping features of said object to said
landmarks.

US Pat. No. 9,823,260

METHOD TO INCREASE BIOAVAILABILITY OF THE DELTA-OPIOID RECEPTOR FOR MANAGEMENT OF PAIN AND NEUROPSYCHIATRIC DISORDERS

Carnegie Mellon Universit...

1. A method of increasing bioavailability of delta-opioid receptors on a cell, comprising:
regulating phosphorylation of a phospholipid in a cell by administering a drug affecting a phosphatase or a phospholipid to
prevent intracellular retention of delta opioid receptors, wherein the drug is selected from the group consisting of bpV(phen),
bpV(HOptic), and SF1670;

thereby forcing delivery of the delta-opioid receptors to a surface of the cell.

US Pat. No. 9,808,936

TWO-PHASE GRIPPER TO REORIENT AND GRASP

Massachusetts Institute o...

1. Two-phase gripper to reorient and grasp an object while being picked up comprising:
a parallel jaw gripper including a pair of opposed, two-phase fingers, each finger including a cavity covered by an elastic
strip, the elastic strip including a point contact providing minimal frictional resistance to rotation of the object and wherein
the elastic strip has a stiffness, K, such that Fpivot/2?pivot?K?Fgrasp/2?grasp wherein ?pivot is maximum allowable deflection for a first relatively lower force Fpivot suitable for pivoting; and wherein ?grasp is minimum extension of the elastic strip to recede into the cavity for a second relatively higher force;

whereby closure of the jaws of the gripper on the object at the first relatively lower force results in contact with lower
friction between the point contact on the elastic strip and on the fingers and the object allowing the object to rotate under
gravity as the gripper is raised; and

whereby closure of the jaws of the gripper on the object at the second relatively higher force causes the elastic strip to
recede into the cavity resulting in multi-point contact with higher friction between the fingers and the object to securely
grasp the object.

US Pat. No. 9,539,338

POLYMER-BASED PROTEIN ENGINEERING METHODS TO RATIONALLY TUNE ENZYME ACTIVITY, PH-DEPENDENCE AND STABILITY

Carnegie Mellon Universit...

1. A method comprising:
in an aqueous solution, immobilizing an active ester-functionalized amide-containing controlled radical polymerization CRP
initiator comprised of the structure


wherein X is a halogen or a chain transfer agent;
R1 is H or alkyl;

R2 is an active ester moiety; and

n is an integer from 1 to 6,on each of a plurality of amino binding sites on a protein surface to form a protein-initiator conjugate;
isolating the protein-initiator conjugate;
mixing a first group of monomers having one or more desired properties with the protein-initiator conjugate;
polymerizing the monomers from the protein-initiator conjugate to grow a polymer under controlled radical polymerization conditions
to form a protein-polymer conjugate; and,

isolating the protein-polymer conjugate.

US Pat. No. 10,031,619

PROBABILISTIC PALM REJECTION USING SPATIOTEMPORAL TOUCH FEATURES AND ITERATIVE CLASSIFICATION

CARNEGIE MELLON UNIVERSIT...

1. A method for distinguishing between a palm touch and a pointer touch on a touch-sensitive screen of a computing device, comprising:receiving notification of a touch event associated with the touch-sensitive screen from the computing device;
classifying the touch event based on a series of features that characterize the touch event and a relationship of the touch event to other events; and
periodically re-classifying the touch event over a time window centered at a time the touch event was received, wherein, for a re-classification of the re-classifying of the touch event, the time window expands symmetrically an equal amount of time forward and backward from the time the touch event was received, while maintaining the time window centered at the time, wherein, to facilitate the re-classifying of the touch event, the re-classification is based on the series of features, previous features obtained from a previous touch event associated with the touch-sensitive screen that occurred prior to the time, and subsequent features obtained from a subsequent touch event associated with the touch-sensitive screen that occurs subsequent to the time, wherein the previous touch event and the subsequent touch event occur within the time window, and wherein the classification and the re-classification contribute respective votes used to determine a final classification of the touch event.

US Pat. No. 9,429,960

INTEGRATED INFORMATION FRAMEWORK FOR AUTOMATED PERFORMANCE ANALYSIS OF HEATING, VENTILATION, AND AIR CONDITIONING (HVAC) SYSTEMS

Carnegie Mellon Universit...

1. A computer-implemented method comprising:
retrieving, from one or more external data repositories, heating, ventilation, and air conditioning (HVAC) system information
about an HVAC system;

converting the retrieved HVAC system information from one or more first data formats to a second data format;
storing the converted HVAC system information in a data repository;
for a particular component of the HVAC system,
identifying first portions of the stored HVAC system information that pertain to the particular component; and
generating, in the data repository, one or more associations among the identified, first portions of the stored HVAC system
information;

receiving a request for HVAC system information that is used by a performance analysis algorithm to analyze a performance
of the HVAC system;

in response to the request,
determining, based on contents of the request, a type of component of the HVAC system that is related to the requested HVAC
system information; and

identifying, in the data repository, one or more items of the stored HVAC system information that is of the requested HVAC
system information, with identification of the requested HVAC system information being at least partly based on associations
among second portions of the stored HVAC system information that pertain to the determined type of component;

transmitting, to a client device, the identified one or more items of the stored HVAC system information for use in execution
of the performance analysis algorithm and information for a graphical user interface that when rendered on the client device
enables user selection of one or more performance analysis algorithms;

receiving analysis results from execution of a performance analysis algorithm;
and
generating information for a graphical user interface that presents the received analysis results to a user.

US Pat. No. 9,985,320

WATER-ACTIVATED, INGESTIBLE BATTERY

Carnegie Mellon Universit...

14. A method performed by an orally ingestible battery upon exposure of the orally ingestible battery to an aqueous environment, the orally ingestible battery including an outer gelatin casing, a cathode, an anode, an electrode lead for each of the cathode and anode, and a cell casing enclosing at least the cathode and anode and comprising a water-permeable biocompatible polymer including a plurality of reservoirs each including a solid electrolyte, the method comprising:dissolution of the outer gel casing upon exposure to an aqueous environment,
following the dissolution of the outer gelatin casing of the orally ingestible battery,
diffusing, at a diffusion rate that causes the orally ingestible battery to activate at a predetermined location in an organism, the electrolyte into the anode and the cathode of the orally ingestible battery, the diffusion rate being based on a tortuosity of a water-permeable biocompatible polymer and a geometry of the water-permeable biocompatible polymer of the orally ingestible battery, and wherein the diffusion rate is further based on a configuration of the plurality of reservoirs of the cell casing;
activating, based on diffusion of the electrolyte, the orally ingestible battery;
following activation, delivering a current across the electrode leads of the orally ingestible battery; and
ceasing to deliver the current across the electrode leads after a predetermined time;
wherein the orally ingestible battery is configured to breakdown following a cease in delivery of the current; and
wherein the cathode comprises a metal oxide with a decreased amount of toxicity, relative to an amount of toxicity of other metal oxides to promote safe oral ingestion of the orally ingestible battery by the organism.

US Pat. No. 9,976,113

METHODS, APPARATUSES, AND SYSTEMS FOR CELL AND TISSUE CULTURE

Agency for Science, Techn...

1. A cell culture apparatus for culturing cells, the apparatus comprising:at least one chamber for containing and growing the cells therein; and
a set of removable members, each of the removable members of said set providing a surface for cell adhesion and having a different stiffness relative to other removable members of the set, the stiffness of each removable member of said set being selected to induce cell growth that is different from other removable members within the set,
wherein the at least one chamber being adapted to connect with at least one removable member of the set of removable members,
wherein at least one removable member of the set of removable members is removably connected to the at least one chamber, and
wherein the at least one chamber comprises at least one containment layer for containing cells within the chamber during cell culture, the containment layer disposed between the interior of the chamber and the surface for cell adhesion of the removable member connected to the chamber.

US Pat. No. 9,857,301

AIR QUALITY SENSOR

CARNEGIE MELLON UNIVERSIT...

1. An air quality sensor comprising:
an optical particle sensor for detecting particles having a size of 10 microns or less in diameter in ambient air of the optical
particle sensor, wherein the optical particle sensor outputs an output signal;

wherein the optical particle sensor comprises a LED and detects particles based on reflection of light energy from the LED
by particles in a chamber of the optical particle sensor; and

a programmable processor circuit in communication with the optical particle sensor that is programmed to continuously compute
updated air quality measures for the ambient air using an estimation algorithm based on pulses in the output signal from the
optical particle sensor over time;

wherein the programmable processor circuit computes the updated air quality measures by performing operations that comprise:
adjusting a current value of the air quality measure at a first rate proportional to a difference between the current value
and a raw value from the optical particle sensor, scaled by a constant, when the raw value is non-zero; and

exponentially decaying the current value of the air quality measure toward zero at a second rate when the raw value is zero,
wherein the second rate is less than the first rate.

US Pat. No. 9,649,393

MAGNETIC RESONANCE IMAGING CELL LABELING METHODS AND COMPOSITIONS

University of Pittsburgh-...

1. A method for image-guided treatment of a subject with a condition associated with an inflammatory response in an internal
organ comprising:
a) administering a 19F MRI fluorocarbon imaging reagent to said subject to label inflammatory cells,

b) performing 19F MRI of the subject to detect labeled inflammatory cells,

c) identifying, for the internal organ, boundaries between healthy and affected tissue in the subject using the 19F MRI data from step (b), and

d) administering a medicament to the internal organ based on data obtained in step (c) to treat the condition.

US Pat. No. 9,597,796

SYSTEMS AND METHODS FOR MODULAR UNITS IN ELECTRO-MECHANICAL SYSTEMS

Carnegie Mellon Universit...

1. An electro-mechanical system, comprising:
a plurality of connected modules, a first module of the modules comprising:
an actuator for imparting motion on the electro-mechanical system;
a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first
module to fulfill a received command;

a three port switch, wherein a first port is configured for communication with a second module, wherein a second port is configured
for communication with a third module, and wherein a third port is configured for communication with the data processor.

US Pat. No. 9,470,650

TWO-DIMENSIONAL ELECTRON GAS (2DEG)-BASED CHEMICAL SENSORS

Carnegie Mellon Universit...

1. A sensor system for sensing a constituent of a chemical environment, wherein the constituent is a member of a chemical
family, the sensor system comprising:
an array of sensors arranged in a matrix, said array of sensors designed, configured, and selected to sense multiple member
chemicals of the chemical family and having differing sensitivities to differing ones of the multiple member chemicals based
on sensor temperature; wherein each of said sensors includes a catalyst and one or more additional layers designed and configured
to protect said catalyst and to allow the constituent to permeate through to said catalyst; wherein said array of sensors
includes two-dimensional electron gas (2DEG) sensors;

a plurality of heaters having a plurality of heating elements located proximate to corresponding respective ones of said sensors;
a temperature control system operatively connected to said plurality of heating elements and designed and configured to maintain,
simultaneously, differing ones of said sensors in said matrix at differing temperatures below 200° C. during sensing operations
of the sensor system;

a sensor response system operatively coupled to said sensors and designed and configured to measure responses of said sensors;
and

a matrix analyzer containing an algorithm designed and configured to analyze responses of said sensors, operating at differing
temperatures, measured by said sensor response system and to determine the presence of the constituent and distinguish the
constituent from the rest of the multiple member chemicals.

US Pat. No. 9,533,297

LIGANDS DESIGNED TO PROVIDE HIGHLY ACTIVE CATALYST COMPLEXES

Carnegie Mellon Universit...

1. A catalyst complex for a redox-based atom transfer radical addition reaction, an atom transfer radical coupling reaction
or a controlled radical polymerization reaction, the catalyst complex comprising:
a transition metal; and
a ligand comprising from 2 to 6 heteroatom containing groups that bond to or chelate with a transition metal, wherein at least
one of the heteroatom containing groups comprises a structure selected from a nitrogen containing heteroaromatic ring, wherein
the heteroaromatic ring further comprises one or more electron donating substituents;

wherein the ligand has a structure selected from the group consisting of (4-methoxy-3,5-dimethyl-pyridin-2-ylmethyl)-bis(pyridin-2-ylmethyl)-amine
(TPMA*-1), bis(4-methoxy-3,5-dimethyl-pyridin-2-ylmethyl)-pyridin-2-ylmethyl-amine (TPMA*-2), tris[(4-methoxy-3,5-dimethyl)-pyrid-2-ylmethyl]amine
(TPMA*-3), (4-methoxy-pyridin-2-ylmethyl)-bis(pyridin-2-ylmethyl)-amine (TPMA-OMe), bis(4-methoxy-pyridin-2-ylmethyl)-pyridin-2-ylmethyl-amine
(TPMA-OMe-2), tris((4-methoxy)-pyridin-2-yl)methy)l-amine (TPMA-OMe-3), (4-(N,N-dimethylamino)-pyridin-2-ylmethyl)-bis(pyridin-2-ylmethyl)-amine
(TPMA-NMe2), bis(4-(N,N-dimethylamino)-pyridin-2-ylmethyl)-pyridin-2-ylmethyl-amine (TPMA-NMe2-2), tris(4-(N,N-dimethylamino)-pyridin-2-yl)methyl)-amine (TPMA-NMe2-3), bis((4-methoxy-3,5-dimethyl)-pyrid-2-ylmethyl)-octadecylamine (BPMODA*), N,N?-bis((4-methoxy-3,5-dimethyl)-pyrid-2-yl)methyl-octadecyl)ethylenediamine
(BPED*-OD), N,N,N?,N?-tetra[(4-methoxy-3,5-dimethyl)-pyrid-2-yl)methyl]ethylenediamine (TPEN*), N-methyl-N,N?,N?-tris[(4-methoxy-3,5-dimethyl)-pyrid-2-yl)methyl]ethylenediamine
(TPMEN*), N,N-dimethyl-N?,N?-bis(2-hydroxy-3,5-dimethylbenzyl)ethylenediamine, and 2,4-dimethyl-6-bis(2-(diethylamino)-ethyl)aminomethylphenol;
and

wherein the ligand forms the catalyst complex with the transition metal.

US Pat. No. 9,524,642

TRANSITIONING TO A ROADSIDE UNIT STATE

Carnegie Mellon Universit...

1. A method performed by one or more processors, comprising:
receiving, at an interface of a vehicular device that is associated with the one or more processors, a notification message
indicative of an occurrence of an event, wherein the interface is configured for communication with the one or more processors
of the vehicular device;

determining that a position of the vehicular device is located on a boundary of a reachability area surrounding a source of
the event, the boundary of the reachability area being the position of the vehicular device proximate to (i) one or more vehicular
devices that are informed of the occurrence of the event and that are located inside of the reachability area, and (ii) one
or more vehicular devices that are uninformed of the occurrence of the event and that are located outside of the reachability
area;

determining that a direction of movement of the vehicular device is towards the source;
responsive to determining that the position is on the boundary of the reachability area and that the direction of movement
of the vehicular device is towards the source, automatically controlling an operational state of the vehicular device for
entering a roadside unit state in which the vehicular device acts a roadside unit for a pre-defined period of time;

detecting the one or more vehicular devices that are uninformed of the occurrence of the event and that are located outside
of the reachability area; and

broadcasting the notification message to the one or more uninformed vehicular devices.

US Pat. No. 9,944,019

TIP-LOADED MICRONEEDLE ARRAYS FOR TRANSDERMAL INSERTION

Carnegie Mellon Universit...

1. A dissolvable microneedle array for transdermal insertion into a patient comprising:one or more bioactive components;
a base portion; and
a plurality of microneedles extending from the base portion, the plurality of microneedles comprising a top half and a bottom half
wherein the one or more bioactive components are concentrated in the top half of the microneedles,
wherein the base portion and the plurality of microneedles comprise a plurality of layers of dissoluble biocompatible material,
wherein the dissoluble biocompatible material define a shape of the plurality of microneedles, the one or more bioactive components are contained in the plurality of layers, and at least some of the plurality of layers that contain the one or more bioactive components are spatially separated from others of the plurality of layers that contain the one or more bioactive components.

US Pat. No. 9,861,338

SENSOR GUIDED CATHETER NAVIGATION SYSTEM

Carnegie Mellon Universit...

1. A computer-implemented method, comprising:
receiving scan data collected from a scan of a heart;
extracting a three-dimensional (3D) surface model from the scan data, wherein the 3D surface model corresponds to a particular
phase of a cardiac cycle of the heart;

generating a four-dimensional (4D) heart model using the 3D surface model and a time associated with the particular phase
of the cardiac cycle of the heart;

capturing a 4D surface registration points from a plurality of ultrasound images of the heart from within the heart by a catheter
with a position sensor; and

registering the 4D heart model with the 4D surface registration points, wherein the 4D heart model is separate from the ultrasound
images.

US Pat. No. 9,753,023

NANOFIBER GRID AND RELATED METHODS

Carnegie Mellon Universit...

1. A method of measuring a cell force comprising:
a. providing one or more cells on a nanofiber grid suspended in an aqueous medium or a hydrogel, wherein the nanofiber grid
comprises a plurality of high aspect ratio fibers having diameters of between about 10 nm and 10 ?m, wherein the fibers are
formed into a crossed pattern having one or more intersections, and wherein the fibers are fused at the intersections of the
crossed pattern, wherein at least one cell is in contact with a first fiber;

b. measuring deflection of the first fiber in contact with the at least one cell; and
c. calculating from the deflection of the first fiber a force applied to the fiber by the at least one cell.

US Pat. No. 9,558,300

STOCHASTIC COMPUTATIONAL MODEL PARAMETER SYNTHESIS SYSTEM

Carnegie Mellon Universit...

1. A stochastic computational model parameter synthesis system comprising at least one processor capable of executing processor
executable code, and a non-transitory computer memory operably coupled with the at least one processor and storing processor
executable code, which when executed by the at least one processor, causes the at least one processor to create at least one
synthesized parameter value of a stochastic computational model to satisfy one or more behavioral specifications of properties
observed in a modeled system by:
receiving a first input signal from a user over a network interface, the first input signal indicative of the stochastic computational
model to be carried out by the at least one processor, the stochastic computational model having n parameters in a first parameter
space, the first parameter space being n-dimensional;

receiving a second input signal indicative of at least one behavioral specification corresponding to at least one property
observed in the modeled system;

receiving a third input signal from the user over a network interface, the third input signal indicating a minimum probability
with which the stochastic computational model must satisfy the at least one behavioral specification;

generating one or more second parameter space having d parameters from the first parameter space having n parameters where
d is less than n, the one or more second parameter space being d-dimensional;

generating one or more randomized projections of the first parameter space into the one or more second parameter space, the
randomized projections probabilistically associated with n+1 linearly independent anchor points in the first parameter space;

searching the one or more second parameter space by exhaustively searching discretized points corresponding to at least one
parameter value in the one or more second parameter space to identify the discretized point with a highest probability of
satisfying the at least one behavioral specification;

wherein the one or more randomized projections preserve a distance between the n+1 linearly independent anchor points in the
first parameter space and the discretized point corresponding to the at least one parameter value with the highest probability
of satisfying the at least one behavioral specification in the one or more second abstract parameter space;

verifying that the probability of the discretized point with the highest probability of satisfying the at least one behavioral
specification is at least equal to or greater than the minimum probability input by the user;

creating the at least one synthesized parameter value in the first parameter space from the verified discretized point in
the second parameter space to satisfy the one or more behavioral specifications observed in the modeled system.

US Pat. No. 10,080,834

EXTRACORPOREAL AMBULATOR ASSIST LUNG

CARNEGIE MELLON UNIVERSIT...

1. An extracorporeal system for lung assist comprising:a housing,
a blood flow inlet in fluid connection with the housing;
a blood flow outlet in fluid connection with the housing;
a plurality of hollow gas permeable fibers adapted to permit diffusion of gas between blood and an interior of the hollow gas permeable fibers, the plurality of hollow gas permeable fibers being formed into a first generally cylindrical bundle and being positioned between the blood flow inlet and the blood flow outlet such that blood flows around the plurality of hollow gas permeable fibers when flowing from the blood flow inlet to the blood flow outlet, the plurality of hollow gas permeable fibers extending generally perpendicular to an axis of the first generally cylindrical bundle and to the direction of bulk flow of blood axially through the generally cylindrical bundle and through the housing;
a gas inlet in fluid connection with the housing and in fluid connection with inlets of the plurality of hollow gas permeable fibers;
a gas outlet in fluid connection with the housing and in fluid connection with outlets of the plurality of hollow gas permeable fibers; and
at least one moving element located outside the generally cylindrical bundle to create velocity fields in blood flow contacting the plurality of hollow gas permeable fibers, wherein the moving element is axially spaced from and directly adjacent an end of the first generally cylindrical bundle via which blood enters the first generally cylindrical bundle and a surface of the moving element is no more than 1 cm from the end of the first generally cylindrical bundle via which blood enters the first generally cylindrical bundle, the at least one moving element rotating in a plane generally perpendicular to the axis of the first generally cylindrical bundle.

US Pat. No. 10,049,694

HEAT-ASSISTED MAGNETIC RECORDING HEAD HAVING A NON-UNIFORM AIR-BEARING SURFACE

Carnegie Mellon Universit...

1. A recording head comprising:a near-field transducer configured to heat one or more portions of a magnetic storage layer to generate a thermal profile in the magnetic storage layer; and
a write pole configured to generate a magnetization pattern, in the magnetic storage layer, that overlaps with the thermal profile in the magnetic storage layer;
wherein the write pole comprises:
a first side facing a first axis that is approximately orthogonal to a second axis along which the write pole is configured to move across the magnetic storage layer;
a second side opposite the first side; and
a non-uniform surface that faces the magnetic storage layer, the non-uniform surface configured to cause a portion of the magnetization pattern to be approximately linear;
wherein the first side, the second side, or each of the first and second sides comprises a tapered edge proximate to the non-uniform surface.

US Pat. No. 9,992,931

CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE

Carnegie Mellon Universit...

1. A method of estimating a pose of a target following a transferring vehicle comprising:capturing stereo image data related to the target using an image capture device,
wherein the image capture device is located on a spout attached to the transferring vehicle;
detecting the target in the image data, using a target detection module;
receiving information about the spout arrangement from a kinematic module; and
using a target tracking module, tracking the target in the image data using the information about the spout arrangement to provide a pose trajectory of the target,
wherein the pose trajectory provides information about the location of the target.

US Pat. No. 9,992,932

CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE

Carnegie Mellon Universit...

1. A method of controlling a spout arrangement on a transferring vehicle comprising:determining a position of a target relative to the transferring vehicle, wherein the target is located to a rear of the transferring vehicle;
receiving information about the spout arrangement from a kinematic module;
using a material projection module, calculating a trajectory of material exiting the spout arrangement to determine an expected material incidence point;
using an electronic control unit, adjusting the spout arrangement to align the expected material incidence point with the target.

US Pat. No. 9,916,685

SYSTEM AND METHOD FOR DEPTH-RECOVERY OF A FACE IN AN IMAGE

Carnegie Mellon Universit...

1. A system for deriving a 3D model of a face from a 2D image captured with an image sensor, comprising:
a computing device executing software for performing the functions of:
(a) placing a plurality of fiducial points at landmarks on said face, each of said fiducial points corresponding to a fiducial
point for a mean face calculated over a database set of faces;

(b) calculating a function which captures the deviation of each fiducial point from said mean fiducial point;
(c) using a thin-plate spline function to create a test face by minimizing a function which provides a measure of the smoothness
of the function calculated in step (b);

(d) selecting a set of uniformly-distributed points on said mean face; and
(e) finding a set of points on said test face corresponding to said uniformly-distributed set of points on said mean face;
and

(f) for each point in said set of points on said test face, calculating a depth coordinate.

US Pat. No. 9,851,841

METHOD AND APPARATUS FOR CLASSIFYING TOUCH EVENTS ON A TOUCH SENSITIVE SURFACE

CARNEGIE MELLON UNIVERSIT...

1. An apparatus for classifying mechanical vibrations in a rigid surface caused by a finger or by a passive object coming
into contact with the rigid surface, the apparatus comprising:
a sampler that receives electrical signals indicative of the mechanical vibrations in the rigid surface, wherein the sampler
continuously generates digitized sample segments representative of at least a portion of the mechanical vibrations; and

a processor operatively coupled to a non-transient storage containing instructions which when executed cause the processor
to:

perform digital signal analysis of the digitized sample segments to identify features of the mechanical vibrations; and
classify a combination of individual identified features as one of a plurality of types of touch events, wherein the combination
of individual identified features comprises a first plurality of features selected at least in part from a first group consisting
of an average absolute amplitude of the at least one of the mechanical vibrations, a total absolute amplitude of the at least
one of the mechanical vibrations, and a standard deviation of absolute amplitude of the mechanical vibrations.

US Pat. No. 9,727,581

QUANTITATIVE COMPARISON OF IMAGE DATA USING A LINEAR OPTIMAL TRANSPORTATION

Carnegie Mellon Universit...

1. A method performed by one or more processors, comprising:
retrieving a set of images;
selecting, based on the images retrieved, a reference template;
generating an approximate representation of at least one image of the set of images to reduce a computational complexity of
calculating optimal transportation plans for the at least one image and the reference template, wherein the computational
complexity is reduced relative to a computational complexity of calculating optimal transportation plans with an image, the
generating comprising:

clustering the at least one image into regions;
calculating an approximation error for each of the regions; and
based on the approximation error, modifying one of the regions;
calculating optimal transportation plans between the reference template and each of the images in the set that includes the
at least one image with the modified one of the regions;

calculating, using the optimal transportation plans, a linear optimal transportation metric between at least two images in
the set;

identifying, based on the linear optimal transportation metric, a correspondence between a first image in the set and a second
image in the set; and

generating data for one or more visualizations based on the identified correspondence between the first image in the set and
the second image in the set.

US Pat. No. 9,625,918

FLUID-PRESSURE REGULATION SYSTEMS AND SOFTWARE

Carnegie Mellon Universit...

1. A system, comprising:
a variable-resistance variable-volume (VRVV) fluid-pressure regulator designed and configured to be fluidly connected to an
inlet of a fluidic network or fluidic device upstream of the fluidic network or fluidic device, said VRVV fluid-pressure regulator
including:

a fluid path;
a variable resistor located in the fluid path;
a variable-volume reservoir structure that includes a variable-volume reservoir in fluid communication with said fluid path
downstream of said variable resistor and having a volume;

a controller in operative communication with said variable resistor and said variable-volume reservoir structure and including:
a microprocessor; and
a memory in operative communication with said microprocessor to allow said microprocessor to execute machine-executable instructions
stored in said memory, said memory containing:

a first set of machine-executable instructions for receiving a signal from a pressure sensor located downstream of said variable-volume
reservoir; and

a second set of machine-executable instructions for executing a pressure control algorithm designed and configured to generate,
as a function of the signal, at least one control signal designed and configured for modulating pressure of the fluid at the
inlet of the fluidic network or fluidic device by:

 controlling, via said controller, said variable resistor to controllably change in a determined direction, either increasing
or decreasing, resistance to flow of the fluid through said variable resistor along said flow path; and

 controlling, via said controller, said variable-volume reservoir structure to controllably change in the determined direction
said volume of said variable-volume reservoir structure simultaneously with changing said resistance of said variable-volume
resistor.

US Pat. No. 9,465,494

METHOD AND APPARATUS FOR CLASSIFYING TOUCH EVENTS ON A TOUCH SENSITIVE SURFACE

Carnegie Mellon Universit...

1. An apparatus for classifying touch events, the apparatus comprising:
a touch sensitive surface configured to generate a touch event when an object or finger touches the touch sensitive surface,
wherein the touch event entails a mechanical vibration generated upon contact with the surface;

a sampler configured to continuously sample and store mechanical vibration data spanning a period of time from before a touch
event to after the touch event;

a touch event detector configured to detect the onset of the touch event; and
a touch event classifier configured to classify the touch event to identify the object used for the touch event based on sample
mechanical vibration data captured during an entirety of the touch event including a frequency domain center of mass associated
with the touch event.

US Pat. No. 10,034,966

COATED VASO-OCCLUSIVE DEVICE AND METHODS FOR TREATMENT OF ANEURYSMS

Carnegie Mellon Universit...

1. A method of creating and stabilizing a blood clot in a patient, comprising:inducing clot formation in a patient's vasculature; and
contacting the clot with genipin or a crosslinking genipin derivative to stabilize the clot.

US Pat. No. 9,978,002

OBJECT RECOGNIZER AND DETECTOR FOR TWO-DIMENSIONAL IMAGES USING BAYESIAN NETWORK BASED CLASSIFIER

Carnegie Mellon Universit...

1. A computer-implemented method, comprising:applying a plurality of view-based classifiers to a digital image, wherein each classifier corresponds to a respective portion of the digital image and is configured to determine whether at least a portion of a type of object is within the respective portion of the digital image to which the classifier is applied;
computing, based on the applying, a sum of a plurality of log-likelihood ratios for the plurality of view-based classifiers, each log-likelihood ratio of the plurality of log-likelihood ratios being for a respective classifier of the plurality of view-based classifiers and including a ratio of two graphical probability models, a graphical probability model including a probability distribution over a set of variables where statistical independence and conditional statistical independence exist among various combinations of the variables, and wherein the graphical probability model is a probability distribution representation derived from statistical dependencies among image input variables;
determining that the type of object is within the digital image based on the sum satisfying a first predetermined threshold;
identifying a detection location of the type of object within the digital image based on respective locations within the digital image to which the plurality of classifiers were applied and the plurality of log-likelihood ratios for the plurality of classifiers; and
displaying a marked-up version of the digital image identifying the identified detection location of the type of object within the digital image.

US Pat. No. 9,928,968

MELANINS AS ACTIVE COMPONENTS IN ENERGY STORAGE MATERIALS

Carnegie Mellon Universit...

1. An energy storage device comprising:one or more organic electrodes comprising one or more melanin-based energy storage materials and cations, with at least one of the one or more melanin-based energy storage materials comprising a melanin infused with one or more of the cations, with the one or more melanin-based energy storage materials reversibly binding the cations while the energy storage device is in an inactive state, and the one or more melanin-based energy storage materials releasing the cations to provide energy while the energy storage device is in an active state, the energy storage device being biocompatible.

US Pat. No. 9,852,357

CLEAR PATH DETECTION USING AN EXAMPLE-BASED APPROACH

GM GLOBAL TECHNOLOGY OPER...

1. A method for detecting a clear path of travel for a vehicle using a current image generated by a camera, the method comprising:
during an off-line training process:
defining an exemplary vanishing point for each of a plurality of sample images, each of the plurality of sample images comprising
a different combination of geometric layout, lighting conditions, camera perspectives, traffic conditions and camera lens
radial distortion;

identifying features within each of the plurality of sample images, the features including a ground portion, a horizon, and
any objects within each image;

determining a feature value for each of the identified features within each of the plurality of sample images;
classifying the identified features within each of the plurality of sample images as a clear path or an obstacle; and
storing the identified features within each of the plurality of sample images in a refined database; and
within at least one on-vehicle processing module including memory:
monitoring the current image generated by the camera;
identifying features within the current image, the features including a ground portion, a horizon, and any objects within
the image;

determining a feature value for each of the identified features within the current image;
selecting candidate sample images from the plurality of sample images that most closely resemble the current image, comprising
comparing the feature values of the sample images to the feature values of the current image and selecting as the candidate
sample images a predetermined number of the plurality of sample images whose feature values are in nearest spatial proximity
to the feature values of the current image;

determining a vanishing point for the current image based upon the exemplary vanishing points within said candidate sample
images;

utilizing the vanishing point for the current image to define a clear path of travel, comprising:
filtering out features in the current image above the vanishing point;
identifying a clear path of travel below the vanishing point of the current image based upon the identified features classified
as corresponding to clear path within at least one of said candidate sample images; and

utilizing the clear path of travel to navigate the vehicle.

US Pat. No. 9,731,422

METHODS, APPARATUSES, AND SYSTEMS FOR MICROMANIPULATION WITH ADHESIVE FIBRILLAR STRUCTURES

Carnegie Mellon Universit...

1. A method of using micro- and/or nano-scale fibers to manipulate a first part, comprising the steps of:
providing a manipulation device with a plurality of micro- and/or nano-scale fibers,
wherein each micro- and/or nano-scale fiber has a tip with a flat surface that is parallel to a backing layer,
wherein each micro- and/or nano-scale fiber is perpendicular to the backing layer;
contacting the first part with the flat surface of one or more tips of the plurality of micro- and/or nano-scale fibers to
form contacted tips;

picking up the first part and maneuvering it from a first position to a second position;
reducing a contact area of each contacted tip of the contacted tips with the first part by displacing the plurality of micro-
and/or nano-scale fibers towards the first part to cause the fiber to deform and the contacted tips to peel away from the
first part; and

retracting the plurality of micro- and/or nano-scale fibers away from the first part to release the first part from the manipulation
device.

US Pat. No. 9,761,136

METHODS AND SOFTWARE FOR MANAGING VEHICLE PRIORITY IN A SELF-ORGANIZING TRAFFIC CONTROL SYSTEM

Carnegie Mellon Universit...

1. A non-transitory machine-readable storage medium containing machine-executable instructions for performing a method of
managing vehicle priority proximate to a potential travel-priority conflict zone, the method being executed in a dynamic traffic
control system, said machine-executable instructions comprising:
a first set of machine-executable instructions for communicating with a first component of the dynamic traffic control system
located on-board a vehicle proximate to the potential travel-priority conflict zone so as to establish a dynamic traffic control
plan for avoiding a travel-priority conflict in the potential travel-priority conflict zone;

a second set of machine-executable instructions for coordinating with the first component of the dynamic traffic control system
via said communicating to elect a dynamic traffic controller as a temporary coordinator vehicle responsible for temporarily
coordinating the dynamic traffic control plan;

a third set of machine-executable instructions for receiving a priority-request message from a priority vehicle;
a fourth set of machine-executable instructions for determining a travel direction of the priority vehicle;
a fifth set of machine-executable instructions for comparing the travel direction of the priority vehicle to a travel direction
of a non-priority vehicle proximate to the potential travel-priority conflict zone;

a sixth set of machine-executable instructions for transmitting a priority-granted message to the priority vehicle when the
travel direction of the priority vehicle and the travel direction of the non-priority vehicle proximate to the potential travel-priority
conflict zone differ; and

a seventh set of machine-executable instructions for providing traffic control instructions to an operator of the priority
vehicle via a visual or audio indication produced in the priority vehicle as a function of the priority-granted message.

US Pat. No. 9,688,743

OPTICAL BIOSENSORS

CARNEGIE MELLON UNIVERSIT...

1. A ligand-dye complex, comprising a cognate ligand of a dye non-covalently bound to the dye, wherein the cognate ligand
comprises an scFv molecule consisting of a polypeptide sequence having at least 90% sequence identity to the polypeptide of
SEQ ID NO: 13, wherein the dye that binds the scFv molecule is one of a malachite green or an analog of malachite green of
the following general structure:

wherein R comprises a fluorescent label, a photoreactive group, a reactive group, biotin, a hapten, a His-tag, a moiety that
controls water solubility and non-specific binding, a moiety that controls the ability of the dye to enter a cell through
a membrane, a moiety to facilitate isolation of the ligand, or:


optionally with a linker, and wherein the bound dye and ligand exhibit an increase in detectable fluorescence signal at least
ten times greater than the detectable fluorescence signal of the dye when not bound to the ligand.

US Pat. No. 9,625,887

CONTINGENCY SCREENING IN MULTI-CONTROL AREA ELECTRICAL POWER SYSTEMS USING COORDINATED DC POWER FLOW

Carnegie Mellon Universit...

1. A method of performing a contingency screening of an electrical power network, the method comprising:
receiving a previously computed, modular representation of the electrical power network, wherein the modular representation
includes:

a zoomed-in representation defined by a first plurality of variables and having internal line connections; and
a zoomed-out representation defined by a second plurality of variables and having tie-line connections,
wherein the first plurality of variables includes at least one variable not included in the second plurality of variables
and at least one of the second plurality of variables is derived from a linear combination of line flows of two or more of
the internal line connections;

receiving a line outage having an outage type, including receiving a line outage for which the outage type is an internal
outage;

determining whether to recompute the zoomed-out representation or both of the zoomed-in and zoomed-out representations as
a function of the outage type, including determining that both of the zoomed-in and zoomed-out representations need to be
recomputed based on the internal outage; and

recomputing, based on the line outage, the one(s) of the zoomed-in and zoomed-out representations determined at said determining
step, including recomputing both of the zoomed-in and zoomed-out representations as a function of the internal outage;

wherein recomputing the zoomed-out representation includes recomputing the zoomed-in representation to account for an outage
and performing a forward transformation as a function of the recomputed zoomed-in representation to produce a recomputed zoomed-out
representation.

US Pat. No. 9,603,724

ROBUST SWING LEG CONTROLLER UNDER LARGE DISTURBANCES

Carnegie Mellon Universit...

16. A method for placing an artificial foot connected to a prosthetic or robotic limb on to a target point, wherein the method
comprises:
providing the prosthetic or robotic limb with an artificial shank having length (ls) coupled to a rotatable artificial knee joint, wherein the rotatable artificial knee joint is coupled to a natural thigh
having length (lt) coupled to a rotatable natural hip joint;

providing a knee torque actuator coupled to the rotatable artificial knee joint;
providing a controller in communication with: i. a rotatable natural hip joint sensor to measure a current hip rotation angle
(?h), ii. a rotatable artificial knee joint sensor to measure a current knee rotation angle (?k), and iii. the knee torque actuator to apply a positive or a negative torque to the rotatable artificial knee joint;

inputting into the controller one or more parameters from the group consisting of a target leg angle (?t), a leg clearance length (lclr) a stopping gain (kstp), an extension gain (kext), a flexing gain (ki), a damping gain (kii), a maximum return leg angle velocity (?max), and a leg angle threshold delta (??thr);

wherein the controller executes the following steps of the method:
a. continuously measuring the current hip rotation angle (?h) and the current knee rotation angle (?k);

b. continuously determining a current leg angle velocity (?) and a current leg angle (?) based on the current hip rotation angle (?h) and the current knee rotation angle (?k);

c. calculating the adjustable leg length (l) based on the current knee rotation angle (100 k), the thigh length (lt), and the shank length (ls);

d. applying a first torque or no torque to the rotatable artificial knee joint until the adjustable leg length (l) is equal
to or less than the leg clearance length (lclr);

e. applying a second torque or no torque to the rotatable artificial knee joint until a threshold leg angle ?thr, defined as (?tgt+??thr), is reached;

f. applying a third torque or no torque to the rotatable artificial knee joint until the current leg angle velocity (?) equal to or greater than zero; and
g. applying a fourth torque or no torque to the rotatable artificial knee joint until the artificial foot contacts the target
point,
whereby motion of the rotatable artificial knee joint is determined without enforcing reference trajectories of the rotatable
natural hip joint and the rotatable artificial knee joint.

US Pat. No. 9,600,648

METHODS AND APPARATUSES FOR CONTROLLING ACCESS TO COMPUTER SYSTEMS AND FOR ANNOTATING MEDIA FILES

Carnegie Mellon Universit...

1. A method of digitizing media, comprising:
designating at least one first portion of an electronic representation of characters of a document as not having a known answer
and using the at least one first portion designated as not having a known answer as a read part of a challenge, wherein the
challenge includes a verify part for which an answer is known and the read part for which the answer is not known;

presenting the challenge to multiple users;
receiving an interpretation of the read part of the challenge from a plurality of the multiple users;
comparing the received interpretations and establishing a confidence level for the interpretations;
responsive to one of the interpretations reaching a predetermined level of confidence, establishing the interpretation as
correct;

using the interpretation established as correct to replace the first portion of the electronic representation of characters
of the document; and

designating the first portion of the electronic representation of characters of the document as having a known answer.

US Pat. No. 9,505,125

EXTENDABLE ARTICULATED PROBE DEVICE

Carnegie Mellon Universit...

1. An articulated probe device, comprising:
a first multi-linked mechanism that comprises a passage that extends from a proximal end of the first multi-linked mechanism
toward a distal end of the first multi-linked mechanism along a longitudinal axis of the first multi-linked mechanism;

a second multi-linked mechanism that concentrically surrounds at least a portion of the first multi-linked mechanism;
one or more steering cables; and
an overtube mechanism that concentrically surrounds at least a portion of the first multi-linked mechanism and a portion of
the second multi-linked mechanism, the overtube mechanism comprising:

a first link positioned at a proximal area of the overtube mechanism,
a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link,
a second link which is moveably coupled to a second one of the intermediate links and positioned at a proximal area of the
overtube mechanism, and

one or more through-holes that extend along a length of the overtube mechanism, wherein the through-holes are configured to
surround at least a portion of the steering cables.

US Pat. No. 9,457,971

SYSTEM AND METHOD OF MATERIAL HANDLING USING ONE OR MORE IMAGING DEVICES ON THE TRANSFERRING VEHICLE TO CONTROL THE MATERIAL DISTRIBUTION INTO THE STORAGE PORTION OF THE RECEIVING VEHICLE

Carnegie Mellon Universit...

1. A method for facilitating the transfer of material from a transferring vehicle having a material distribution end to a
receiving vehicle having a bin to store the transferred material, the method comprising the steps of:
a. obtaining image data from at least one imaging device facing the bin, wherein the at least one imaging device is mounted
on the transferring vehicle;

b. identifying and locating the bin from the image data using an image processing module;
c. identifying a spout from the image data using the image processing module to determining a location and orientation of
the spout;

d. detecting a representation of the fill level or volumetric distribution of the material in the bin;
e. determining a position of the spout relative to the bin using an alignment module based on an identified location of the
bin and the identified location and orientation of the spout;

f. aligning the spout over a current target area of the bin requiring the material by generating command data used by at least
one of a vehicle controller and a spout controller,

wherein the command data is based in part on the position of the spout relative to the bin;
g. determining subsequent target areas of the bin that require material based on the representation of the fill level or volumetric
distribution of the material in the bin;

h. transferring the material from the transferring vehicle to the current target area of the bin of the receiving vehicle;
i. detecting when the current target area of the bin is filled with the material;
j. repeating steps f-i until the subsequent target areas of the bin are filled; and
k. terminating the transfer of the material from the transferring vehicle to the receiving vehicle.

US Pat. No. 10,129,528

CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE

Carnegie Mellon Universit...

1. A method of controlling a spout arrangement on a transferring vehicle comprising:determining a position of a target relative to the transferring vehicle using data from at least one of an image capture device and a position-determining receiver,
wherein the target is located to a rear of the transferring vehicle;
receiving information about the spout arrangement from a kinematic module;
calculating a material trajectory exiting the spout arrangement to determine a material incidence point;
using an electronic control unit, adjusting the spout arrangement to align the material incidence point with the target.

US Pat. No. 10,060,939

DEVICE AND METHOD FOR CLINICAL DATA SAMPLING AND SPECIMEN BANKING

CARNEGIE MELLON UNIVERSIT...

12. A method of collecting patient data and collecting and banking patient samples, the method comprising:drawing a sample into a tube;
moving the sample along a portion of the length of the tube through the use of a pump;
injecting a spacer fluid into the tube containing the sample to create sequential samples comprising a first sample and a second sample;
wherein the spacer fluid is interposed between the first sample and the second sample to create discrete sections of sample and spacer fluid along the tube;
sensing at least one of the first sample, the second sample, and the spacer fluid at a point along the tube;
providing a microcontroller in communication with the sensor and the pump;
sending a control signal from the microcontroller to the pump;
receiving data in the microcontroller from the sensor,
wherein the data comprises an identification of at least one of the first sample and the second sample,
wherein each identified sample contains a time stamp; and
receiving and storing additional data in the microcontroller from at least one of a database and a data source.

US Pat. No. 9,928,405

SYSTEM AND METHOD FOR DETECTING AND TRACKING FACIAL FEATURES IN IMAGES

CARNEGIE MELLON UNIVERSIT...

1. A system for detecting and tracking features in a series of images of an object, comprising:a camera;
a microprocessor, in communication with said camera
software, executed by said processor, said software performing the functions of detection and tracking,
wherein said function of detection includes the steps of:
(a) detecting the presence of said object in an image from said series of images and placing said object in a bounding box;
(b) initializing a set of landmarks in the bounding box; and
(c) applying multiple iterations of a regression function learned during a training phase to update said landmarks by mapping image features of said object to said landmarks; and
wherein said function of tracking includes the steps of:
(d) applying a classifier to determine how closely said features map to said landmarks in said object;
(e) repeating steps (c)-(d) for the next image in said series of images if said classifier determines that the mapping of features to landmarks exceeds a predetermined threshold; and
(f) repeating steps (a)-(d) for the next image in said series of images if said classifier determines that the mapping of features to landmarks does not exceed said predetermined threshold.

US Pat. No. 9,881,273

AUTOMATIC OBJECT DETECTION AND STATE ESTIMATION VIA ELECTRONIC EMISSIONS SENSING

DISNEY INTERPRISES, INC.,...

1. A recognition device carried or worn by a human user, the recognition device comprising:
a sensor that senses electrical signals conducted by the body of the human user, wherein the electrical signals are a result
of electromagnetic energy emitted by an electrical device in proximity to the human user; and

a controller receptive of the electrical signals sensed by the sensor, the controller including a plurality of signatures
for electrical signals produced by a corresponding plurality of types of electrical devices, the controller comparing the
electrical signals sensed by the controller to the plurality of signatures to determine the type of electrical device that
generated the electrical signals sensed by the sensor.

US Pat. No. 9,853,528

SPHERICAL INDUCTION MOTOR

Carnegie Mellon Universit...

1. An induction motor, comprising:
a spherical rotor comprising a continuous layer of high electrical conductivity;
an optical sensor configured to measure a surface velocity of the spherical rotor;
a processor configured to provide closed loop control of angular velocity of the spherical rotor based on an angular velocity
command and the measured surface velocity from the optical sensor; and

a plurality of curved inductors positioned around the spherical rotor, wherein the plurality of curved inductors is configured
to interact with the continuous high electrical conductivity layer to rotate the spherical rotor through arbitrarily large
angles among any combination of three independent axes based on commands from the processor.

US Pat. No. 9,846,887

DISCOVERING NEIGHBORHOOD CLUSTERS AND USES THEREFOR

CARNEGIE MELLON UNIVERSIT...

1. A computer-based system comprising:
a plurality of electronic location sensors that capture time-stamped location data indicative of the location that venue visitors
visit over time;

a computer database system that stores derived venue check-in data based on the time-stamped location data captured by the
plurality of electronic location sensors, wherein the venue check-in data comprise venue check-in data from the multiple venue
visitors for multiple venues in a geographic region;

a host computer system that comprises one or more processors that are in communication with the computer database system,
wherein the one or more processors are programmed to:

generate a check-in intensity vector for each of the multiple venues based on the venue check-in data, each check-in intensity
vector comprising a plurality of elements, each element corresponding to one or more venue visitors of the multiple venue
visitors, and wherein values for the elements of the check-in intensity vector for a venue is based on at least a measure
of intensity of check-ins of the corresponding one or more venue visitors to the venue over a predetermined period of time;

generate elements of a pairwise venue similarity matrix for the multiple venues, each generated element comprising a similarity
score indicative of a similarity between a different pair of the multiple venues, wherein the similarity score for a pair
of the venues is determined, by the one or more processors, based on at least a measure of the similarity between the check-in
intensity vectors for each of the pair of venues; and

determine boundaries for two or more geographic clusters of venues in the geographic region, wherein the geographic clusters
of venues are determined based on at least the generated elements of the pairwise venue similarity matrix, wherein each of
the two or more geographic clusters of venues comprises a mix of one or more of the multiple venues; and

an analytics server system in communication with the host computer system, wherein in the analytics server system comprises
one or more servers that are programmed to receive data about the two or more geographic clusters determined by the host computer
system and provide analytics using the two or more geographic clusters determined by the host computer system.

US Pat. No. 9,805,268

SYSTEM AND METHOD FOR PROCESSING A VIDEO STREAM TO EXTRACT HIGHLIGHTS

Carnegie Mellon Universit...

1. A system for extracting video highlights from a video stream comprising:
storage, containing said video stream in digital form; and
a processor, in communication with said storage, said processor executing software for performing the following functions:
i. reading an initial plurality of frames from said video stream and constructing a new dictionary based on said initial plurality
of frames, said dictionary containing data summarizing the content of said initial plurality of frames;

ii. breaking the remainder of said video stream into a plurality of segments of approximately equal length;
iii. reading the next segment from said video stream;
iv. detecting interest points in said segment and defining a local spatio-temporal cuboid for each of said detected interest
points;

v. calculating, for each of said spatio-temporal cuboids, a plurality of feature vectors and concatenating said plurality
of feature vectors into a feature representation for each of said spatio-temporal cuboids;

vi. determining if a group of feature representations representing all of said spatio-temporal cuboids in said segment can
be sparsely reconstructed for a cost not exceeding a predetermined threshold, using existing entries in said dictionary, and,
if not, adding said group of feature representations to said dictionary and adding said segment to said video highlights;

vii. repeating steps iii.-vi. until all segments in said video stream have been processed.

US Pat. No. 9,799,096

SYSTEM AND METHOD FOR PROCESSING VIDEO TO PROVIDE FACIAL DE-IDENTIFICATION

CARNEGIE MELLON UNIVERSIT...

1. A method for face facial de-identification in an image or video comprising:
obtaining an image of a source face represented as a plurality of source pixels;
obtaining an image of a target face represented as a plurality of target pixels;
computing the shape deformations of the source face with respect to a neutral face using triangle-based deformation and applying
the same triangle-based deformation to the neutral face to deform the target face; and

adapting illumination and color characteristics of the source face to the target face by:
establishing a plurality of 2D landmarks on the source face and target face;
for each of the source face and target face, estimating a plurality of 3D landmarks corresponding to the 2D landmarks and
representing a surface over the 3D landmarks as a spherical surface;

aligning source pixels to target pixels using triangle warping and calculating the corresponding pixels between the source
pixels and target pixels;

projecting the source pixels and target pixels onto their respective spherical surfaces and computing, for each source and
target pixel, a harmonic basis;

calculating a plurality of harmonic coefficients representing an approximation of the intensity of source pixels in each of
the RGB color channels; and

constructing the pixel intensity for the target pixels as the product of the harmonic basis for the target pixels and the
harmonic coefficients calculated with respect to the source pixels.

US Pat. No. 9,800,946

DYNAMIC REAL-TIME TV WHITE SPACE AWARENESS

CARNEGIE MELLON UNIVERSIT...

1. A method, implemented as software running on a computer, for determining free white space opportunities in a broadcast
spectrum comprising the steps of:
a. consulting a geo-location database containing information regarding TV transmitters;
b. defining and identifying a potential cell for use as free white space cell based on data in said geo-location database;
c. collecting spectrum sensing data from one or more white space devices located within said identified potential cell;
d. collecting ambient sensing data from within said identified potential cell, said ambient sensing data including visual
and acoustic fingerprints of a TV receiver, and comparing said visual and acoustic fingerprints to known fingerprints of broadcast
TV programs to determine the channel to which said TV receiver is tuned; and

e. declaring said identified potential cell to be a free white space cell for a particular channel when it is determined with
a pre-determined confidence level that TV receivers within said identified potential cell are not receiving a broadcast TV
signal for said channel.

US Pat. No. 9,761,036

METHODS AND SOFTWARE FOR VISUALIZING DATA BY APPLYING PHYSICS-BASED TOOLS TO DATA OBJECTIFICATIONS

Carnegie Mellon Universit...

1. A method of enabling a user to visualize a data set on a graphical display of a computing system, wherein the data set
contains a plurality of records each having a plurality of attributes common to the plurality of records, the method comprising:
displaying, by the computing system, a physics-based sandbox on the graphical display, wherein the physics-based sandbox contains
a chart having at least one axis representing a corresponding attribute of the plurality of attributes;

objectifying, by the computing system, each of the plurality of records to create a corresponding plurality of simulated physical
objects, wherein each of the simulated physical objects defines a peripheral boundary that simulates an exterior surface of
a real-world physical object, wherein each of the simulated physical objects has a corresponding plot location on the chart
based on the attribute of the at least one axis;

displaying the simulated physical objects in the physics-based sandbox, wherein said displaying includes:
applying an attraction algorithm to attract each simulated physical object toward the corresponding plot location by simulating
electromagnetic attraction between each simulated physical object and the corresponding plot location; and

when ones of the simulated physical objects are attracted to identical or proximate plot locations, applying a collision algorithm
in conjunction with the attraction algorithm to cause the ones of the simulated physical objects to collide with one another
and cluster together with corresponding respective peripheral boundaries abutting one another;

receiving, by the computing system, a user selection of a physics-based data-manipulation tool, wherein the physics-based
data-manipulation tool invokes a physics-based interaction with one or more of the plurality of simulated physical objects,
wherein the physics-based interaction is modeled by one or more physics-based modeling algorithms;

displaying a graphical representation of the physics-based data-manipulation tool in the physics-based sandbox;
determining, by the computing system, which one or more of the plurality of simulated physical objects experiences the physics-based
interaction;

applying, by the computing system, the one or more physics modeling algorithms to each of the plurality of simulated physical
objects determined to experience the physics-based interaction so as to determine at least one updated graphical representation
for each of the one or more of the plurality of physical objects experiencing the physics-based interaction; and

rendering each of the at least one updated graphical representation in the physics-based sandbox.

US Pat. No. 9,753,029

DEVICES AND METHODS FOR DETECTION AND QUANTIFICATION OF IMMUNOLOGICAL PROTEINS, PATHOGENIC AND MICROBIAL AGENTS AND CELLS

Carnegie Mellon Universit...

1. A microfluidic immunoassay device for detecting and measuring concentration of an analyte in a liquid sample, comprising
a liquid sample inlet, a plurality of reaction chambers, each of the reaction chambers having an outlet manifold micro-channel
where the liquid sample exits, wherein when the liquid sample flows through the plurality of reaction chambers, a plurality
of antibody-coated magnetic-responsive micro-beads deposited on the surfaces of the reactions chambers disperses in the liquid
sample and binds to any analyte present in the liquid sample, wherein any analyte present in the liquid sample also binds
to antigen-specific antibodies immobilized on the surfaces of the plurality of reaction chambers to form Ab1-analyte-Ab2-coated
magnetic-responsive micro-bead complexes, wherein any unbound antibody-coated magnetic-responsive micro-beads exit each of
the plurality of reaction chambers via the outlet manifold micro-channels, each of said outlet manifold micro-channels terminating
in a passive valve, wherein the liquid sample flow in the reaction chambers is substantially stopped for a period of time
at each of the passive valves, wherein the substantial stoppage of flow allows the analyte to incubate with the Ab1 and Ab2
antibodies in the plurality of reaction chambers, wherein a primary flow splitter micro-channel is in continuous fluid connection
with one of the outlet manifold micro-channels, said primary flow splitter micro-channel in continuous fluid connection with
a delay micro-channel, said delay micro-channel in continuous fluid connection with a connector micro-channel, wherein said
passive valves also are in continuous fluid connection with the connector micro-channel, said connector micro-channel in continuous
fluid connection with a terminal flow splitter micro-channel which bifurcates to form a calibration micro-channel (Co) and
at least one test micro-channel (Cm), said calibration micro-channel in continuous fluid connection with one or more calibration
graduated columns, said at least one test micro-channel in continuous fluid connection with one or more test graduated columns,
wherein said at least one test micro-channel is exposed to a magnetic field gradient which causes flocculation of the magnetic-responsive
micro-beads in the at least one test micro-channel, wherein the flocculation reduces the flow rate (Qm) of the liquid sample
in the at least one test micro-channel compared to the flow rate (Qo) of the liquid sample in the calibration micro-channel,
wherein the volume of liquid collected in the one or more calibration graduated columns, Vo, and the volume collected in the
one or more test graduated columns, Vm, are a proxy for the concentration of the analyte in the liquid sample.

US Pat. No. 9,558,675

ANALYTICAL TOOLS FOR EVALUATING STUDENT LEARNING AND PERFORMANCE

CARNEGIE MELLON UNIVERSIT...

1. A learning analysis system for analyzing student performance and learning activity in a learning environment, the system
comprising:
a monitor;
an electronic computer processor in communication with the monitor, wherein the processor is programmed to execute the function
of an inference engine, wherein the inference engine is programmed to receive at least the following input data based on interaction,
by students, with a computer-based learning environment that comprises at least one access device, wherein the input data
comprises clickstream data received via the at least one access device, and the inference engine is programmed to calculate:

(a) student-learning data based on the clickstream data, wherein the student learning data is associated with the students
performing at least one activity in the learning environment, and

(b) knowledge component model data based on the clickstream data, wherein the knowledge component model data comprises a mapping
of at least one knowledge component to the at least one activity to be performed by the students in the learning environment;

wherein the inference engine is further programmed to generate, in response to the student learning data and the knowledge
component model data, at least one of a statistical probability distribution or a point estimate for at least the following
components of a statistical model:

(a) a learning state parameter representing a level of learning each of the students has attained for at least one knowledge
component, wherein the at least one knowledge component comprises a predetermined number of skills, facts, concepts, strategies,
or relationships regarding subject matter within a learning domain and is specific to an individual student,

(b) a skill dynamics parameter representing a relationship between practice and the learning state parameter for the at least
one knowledge component, wherein the skill dynamics parameter is specific to an individual knowledge component, and

(c) a variability parameter representing variability in the learning state parameter and the skill dynamics parameter across
the students;

wherein the electronic computer processor is programmed to provide a screen display on the monitor that displays a plurality
of learning objectives, wherein at least one of the plurality of learning objectives provides an interactive link in the screen
display that, when activated by a user, causes the monitor to display a graphical representation of a student learning and
performance metric based on the statistical model; and

wherein the graphical representation of the at least one student learning and performance metric comprises information illustrating
at least one of which knowledge component of a plurality of knowledge components were not well learned across the students,
which students achieved comparatively lower levels of learning for a given learning objective, or which learning objective
had not been practiced sufficiently.

US Pat. No. 9,487,869

PATTERN TRANSFER WITH SELF-ASSEMBLED NANOPARTICLE ASSEMBLIES

Carnegie Mellon Universit...

1. A method for fabricating a patterned dot array, the method comprising:
providing a substrate having at least one layer in which the patterned dot array is to be fabricated;
depositing, onto the at least one layer in which the patterned dot array is to be fabricated, a nanoparticle layer, wherein
the nanoparticle layer comprises one or more surfactants and nanoparticles, with the nanoparticles being coated with the one
or more surfactants in the nanoparticle layer, and with portions of the one or more surfactants filling spaces among the nanoparticles
in the nanoparticle layer;

treating the one or more surfactants that coat the nanoparticles and the portions of the one or more surfactants that fill
the spaces among the nanoparticles to stabilize positions of the nanoparticles on the at least one layer in which the patterned
dot array is to be fabricated;

removing, from the nanoparticle layer, the portions of the one or more surfactants that fill the spaces among the nanoparticles
to expose portions of the at least one layer in which the patterned dot array is to be fabricated;

etching the exposed portions of the at least one layer in which the patterned dot array is to be fabricated; and
removing at least a portion of the nanoparticles.

US Pat. No. 10,074,006

METHODS AND SYSTEMS FOR DISEASE CLASSIFICATION

CARNEGIE MELLON UNIVERSIT...

1. A method of classifying a blood cell among a plurality of blood cells in an image, the method comprising:extracting image data from an image of a plurality of blood cells;
partitioning the image into a set of distinct regions, wherein a first region of the set of distinct regions contains similar pixels;
identifying a feature set from the first region, wherein the feature set is based on the image data;
defining a cell color space for the first region, wherein the color space is derived from at least one color modeling technique;
optimizing the color space by using a training dataset applied in a machine learning process;
transforming the image using the optimized color space;
partitioning the transformed image into a second set of distinct regions, wherein a second region of the second set of distinct regions contains similar pixels;
extracting features from the second region to create a feature vector, wherein the feature vector is based on transformed image data;
detecting whether a white blood cell is present in the second region;
performing at least one iteration of segmentation;
creating segmentation of individual cells based on the iterations of segmentation;
classifying individual cells based on the feature vector, wherein the feature vector is compared to a reference feature vector created from a group of reference cells.

US Pat. No. 9,982,070

AQUEOUS ATRP IN THE PRESENCE OF AN ACTIVATOR REGENERATOR

CARNEGIE MELLON UNIVERSIT...

1. An atom transfer radical polymerization (ATRP) process comprising:polymerizing one or more soluble radically (co)polymerizable monomer(s) in the presence of an aqueous polymerization medium, wherein the aqueous polymerization medium comprises:
a molar excess of a ligand compared to a concentration of transition metal salt;
wherein the transition metal salt interacts with the ligand to form a stable soluble transition metal complex;
wherein the stable soluble transition metal complex participates in a reversible reduction-oxidation cycle with an added functional ATRP initiator that comprises one or more radically transferable atoms or groups and a dormant polymer chain, which also comprises a radically transferable atom or group;
wherein the polymerizing occurs at a temperature in a range of about ?10° C. to 110° C. in the presence of an aqueous system comprising a concentration of the stable soluble transition metal complex in a higher oxidation state of less than or equal to 2500 ppm;
wherein the polymerizing is carried out in the presence of an activator regenerator, the amount of which is selected to only reduce less than 10% mole fraction of the stable soluble transition metal complex in a higher oxidation state to a stable soluble transition metal complex in a lower activator oxidation state by in situ reduction through reaction with the activator regenerator;
wherein polymer chains formed by the polymerizing have a predetermined molecular weight and a polydispersity, Mw/Mn, of less than 1.25; and
wherein the activator regenerator comprises a photochemical procedure.

US Pat. No. 9,941,382

METAL-SEMICONDUCTOR-METAL (MSM) HETEROJUNCTION DIODE

Carnegie Mellon Universit...

1. A method for fabricating a diode, comprising:providing a semiconductor layer having a first side and a second side opposite the first side, the semiconductor layer having a thickness between the first side and the second side, the thickness being based on a mean free path of a charge carrier emitted into the semiconductor;
depositing a first metal on the first side of the semiconductor layer;
depositing a second metal on the second side of the semiconductor layer; and
obtaining a substrate of layered materials that includes a layer comprising the semiconductor layer and one or more other layers comprising at least one material that is different from the semiconductor layer;
wherein the thickness of the semiconductor layer is comparable to or less than the mean free path of the charge carrier emitted into the semiconductor layer.

US Pat. No. 9,914,870

LIGNIN-CONTAINING POLYMERS AND COMPOSITIONS INCLUDING LIGNIN-CONTAINING POLYMERS

CARNEGIE MELLON UNIVERSIT...

1. A method of dispersing a component in a matrix, comprising: adding an agent to the matrix, the agent being formed by reacting
at least one molecule of a first polymer comprising single terminal reactive group with a group on a lignin core comprising
a single lignin particle to graft at least one chain of the first polymer onto the lignin core so that the agent comprises
the lignin core and a corona comprising the at least one chain of the first polymer, the first polymer having an affinity
for the matrix, lignin having an affinity for the component, wherein the component is other than the agent, lignin or the
first polymer, and contacting the matrix with the component.

US Pat. No. 9,893,264

METHOD FOR FORMING A SUSPENDED LITHIUM-BASED MEMBRANE SEMICONDUCTOR STRUCTURE

Carnegie Mellon Universit...

1. A method for forming a suspended lithium-based membrane semiconductor structure, the method comprising:
depositing a bonding agent on a surface of a lithium-based carrier substrate;
implanting ions into a surface of a lithium-based donor substrate;
forming, based on implanting, an ion-implanted surface of the lithium-based donor substrate;
bonding the ion-implanted surface of the lithium-based donor substrate to the bonding agent;
removing the lithium-based donor substrate from the ion-implanted surface that is bonded to the bonding agent, with at least
a portion of the ion-implanted surface remaining bonded to the bonding agent following removal;

forming, based on removing, a lithium-based membrane on the bonding agent, with the lithium-based membrane comprising the
at least a portion of the ion-implanted surface that remains bonded to the bonding agent;

forming one or more electrodes on the lithium-based membrane;
etching at least one release window extending through the lithium-based membrane to the bonding agent; and
removing, using the at least one release window, the bonding agent to suspend a portion of the lithium-based membrane with
respect to the lithium-based carrier substrate.

US Pat. No. 10,081,366

SENSOR-BASED ASSESSMENT OF ATTENTION INTERRUPTIBILITY

Carnegie Mellon Universit...

1. A system for determining the interruptibility of the driver of a vehicle, comprising:an interface to said vehicle for collecting information about the operation and state of said vehicle;
one or more sensors for detecting motion of said driver;
one or more sensors for collecting physiological information about said driver;
one or more sensors for detecting activities of said driver;
one or more sensors for detecting conditions outside of said vehicle; and
a processor, in communication said vehicle interface and all of said sensors, said processor running software for performing the functions of:
collecting data from all of said sensors and calculating statistical features from said data;
calculating derived features from said statistical features; and
applying a time-dependent interruptibility classifier as a function of said statistical features, derived features, the state of the driver and road conditions to determination the interruptibility.

US Pat. No. 10,014,013

L10-ORDERED MNAL THIN FILMS WITH HIGH PERPENDICULAR MAGNETIC ANISOTROPY, AND STRUCTURES AND DEVICES MADE THEREWITH

Carnegie Mellon Universit...

1. A stacked-film structure, comprising:a crystalline silicon substrate;
at least one underlayer formed on the substrate; and
an L10-ordered MnAl layer formed on the at least one underlayer, the L10-ordered MnAl layer exhibiting perpendicular magnetic anisotropy and having:
an Mn content in a range of about 50% to about 58%;
a thickness less than about 50 nm;
a saturation magnetization of about 100 emu/cm3 to about 600 emu/cm3; and
a magnetocrystalline anisotropy of at least 1×106 erg/cm3;
wherein the at least one underlayer includes an interface layer that interfaces with the L10-ordered MnAl layer, wherein the interface layer comprises at least one of an MgO layer and a TiN layer.

US Pat. No. 9,997,700

DETERMINISTIC SEEDING OF SWITCHING FILAMENT IN OXIDE-BASED MEMRISTIVE DEVICES

Carnegie Mellon Universit...

1. A method for manufacturing a resistive random access memory (RRAM) cell comprising:providing a metal-insulator-metal (MIM) stack comprising a first metal electrode, a second metal electrode, and a functional layer between the first metal electrode and the second metal electrode; and
directing a particle beam only at a subsection of the MIM stack in order to generate only a portion of a conducting filament between the first metal electrode and the second metal electrode in the functional layer, wherein an area of the subsection of the MIM stack is less than 100 nm2; and
completing formation of the conductive filament by applying a forming voltage between the first metal electrode and the second metal electrode.

US Pat. No. 9,933,255

PROCESS MAPPING OF MELT POOL GEOMETRY

Carnegie Mellon Universit...

1. A method comprising:conducting a plurality of tests of an additive manufacturing process, each test conducted at a different combination of a first process variable and a second process variable for a part having a predetermined structure geometry, each test comprising:
locally heating a region of the part, wherein the local heating results in formation of a thermal field in the part; and
assessing a dimension of the thermal field;
based on results of the plurality of tests, generating a process map of the dimension of the thermal field for a microstructure formation of the part having the predetermined structure geometry as a function of the first process variable, the second process variable, and the predetermined structure geometry; and
controlling, for the additive manufacturing process, formation of the microstructure formation in the part, the controlling causing the dimension of the thermal field in the part having the predetermined structure geometry to be in accordance with the process map and the first and second process variables.

US Pat. No. 9,902,932

METHODS, APPARATUS, AND SYSTEMS FOR FABRICATION OF POLYMERIC NANO- AND MICRO-FIBERS IN ALIGNED CONFIGURATIONS

Carnegie Mellon Universit...

1. A scaffold comprising one or more layers of one or more high aspect ratio, bead-free polymer fibers having a diameter of
between about 10 nm and less than 1000 nm,
wherein the fibers in each of the one or more layers of the scaffold are in a geometrically-spaced configuration,
wherein the polymer is one or more of polystyrene, polyester, polyurethane, polyacrylamide, poly (methyl methacrylate), polylactic
acid, poly(lactic-co-glycolic acid), poly(caprolactone), fibrinogen, collagen, and mixtures and copolymers thereof and wherein
the fibers are prepared by a method comprising:

determining an entanglement concentration (Ce) for a first polymer solution comprising a first polymer and a first good solvent for the first polymer;

feeding the first polymer solution comprising the first polymer having a concentration of at least Ce in the first good solvent for the first polymer through a spinneret to produce an extruded droplet of polymer solution at
a tip of the spinneret;

contacting the extruded droplet of polymer solution with a target at a contact point; moving the contact point away from the
spinneret, thereby pulling a high aspect ratio polymeric fiber from the extruded droplet of polymer solution at the tip of
the spinneret; and further pulling the fiber from the extruded droplet of polymer solution at the tip of the spinneret and
feeding the first polymer solution through the spinneret into the extruded droplet of polymer solution at the tip of the spinneret
at a rate sufficient to compensate for an amount of the first polymer solution used to produce the fiber, thereby producing
a bead-free, high aspect ratio polymeric fiber.

US Pat. No. 9,830,813

SMART AND SCALABLE URBAN SIGNAL NETWORKS: METHODS AND SYSTEMS FOR ADAPTIVE TRAFFIC SIGNAL CONTROL

CARNEGIE MELLON UNIVERSIT...

1. An adaptive traffic control method comprising:
providing a local adaptive traffic control processor in communication with one or more neighboring adaptive traffic control
processors, one or more traffic flow sensors, and a local intersection controller, wherein the local adaptive traffic control
processor executes the following steps of the method:

receiving traffic signal status from the local intersection controller;
receiving current traffic flows from the one or more traffic flow sensors, wherein the current traffic flows comprises vehicle
mode data;

receiving planned traffic inflows from the one or more neighboring adaptive traffic control processors;
merging the current traffic flows and the planned traffic inflows to form an aggregate traffic inflows by updating the aggregate
traffic inflows with local geometry information if a bus is identified in the current traffic flows to estimate a vehicle
arrival time;

generating an optimal phase schedule based on the traffic signal status and the aggregate traffic inflows;
transmitting the optimal phase schedule to the one or more neighboring adaptive traffic control processors;
determining whether to extend a current phase by an extension-interval based in the optimal phase schedule; and
transmitting a switch phase instruction to the local intersection controller switch to the next phase for a minimal phase
length if the current phase is not to be extended or an extend phase instruction to extend the current phase if the current
phase is to be extended, wherein the extend phase message contains the extension interval.

US Pat. No. 9,821,476

ARTICULATED DEVICE WITH VISUALIZATION SYSTEM

Carnegie Mellon Universit...

1. An articulated device, comprising:
a first steerable multi-linked mechanism; and
a second steerable multi-linked mechanism comprising:
a first link,
a plurality of intermediate links, wherein a first one of the intermediate links is movably coupled to the first link,
a second link movably coupled to a second one of the intermediate links, and
a camera located within at least a portion of the second link,
wherein the second steerable multi-linked mechanism is configured to concentrically surround the first steerable multi-linked
mechanism,

wherein the second steerable multi-linked mechanism is configured to operate in a rigid mode when the first steerable multi-linked
mechanism operates in a limp mode,

wherein the second link comprises a plurality of mirrors, wherein a reflective surface of each of the mirrors is positioned
to reflect an image of at least one of an area located behind the camera or an area located to a side of the camera, wherein
each reflective surface is within direct view of the camera.

US Pat. No. 9,797,187

DEVICES FOR MODULATION OF TEMPERATURE AND LIGHT BASED ON PHASE CHANGE MATERIALS

Carnegie Mellon Universit...

1. A device for modulation of temperature and illumination of an interior space comprising:
a hollow containment vessel;
phase change material disposed within the hollow containment vessel; and
conductive material disposed within the phase change material,
wherein the hollow containment vessel is transparent to permit light emission from the phase change material to exit the hollow
containment vessel.

US Pat. No. 9,765,169

FUNCTIONALIZED POLYMER HYBRIDS

CARNEGIE MELLON UNIVERSIT...

1. A method of synthesizing a polynucleotide composition comprising: attaching a compound comprising at least one initiator
or at least one transfer agent for a reversible deactivation radical polymerization to an end of a nucleotide chain assembly
immobilized upon a solid phase support during a solid phase synthesis of a polynucleotide so that the initiator or the transfer
agent is attached to the end of a nucleotide chain assembly in a manner which is stable under conditions of deprotection of
the polynucleotide, and growing a polymer from the initiator or from a site of the chain transfer agent via the reversible
deactivation radical polymerization to form the polynucleotide composition.
US Pat. No. 9,655,999

COATED VASO-OCCLUSIVE DEVICE FOR TREATMENT OF ANEURYSMS

Carnegie Mellon Universit...

1. A method of treating an aneurysm in a patient, comprising feeding a vaso-occlusive device and genipin or a crosslinking
genipin derivative into a fundus of the aneurysm using a catheter.

US Pat. No. 9,640,653

INTEGRATED CIRCUIT DEVICE, SYSTEM, AND METHOD OF FABRICATION

Carnegie Mellon Universit...

1. A semiconductor device defining a top surface and a bottom surface comprising:
a semiconductor portion, having a cross-sectional shape in a plane parallel with said top and bottom surfaces of said device
which is wider at opposite ends thereof and which taper to a narrower portion between said opposite ends, said narrower portion
extending from said top surface to said bottom surface of said device;

a first gate connected to said semiconductor portion on one side of said narrower portion, extending from said top surface
to said bottom surface of said device;

a second gate, discrete from said first gate, said second gate connected to said semiconductor portion at the opposite side
of said narrower portion, extending from said top surface to said bottom surface of said device; and

at least three metal terminals selected from a group consisting of:
a first terminal connected to one wider end of said semiconductor portion;
a second terminal connected to the other wider end of said semiconductor portion;
a third terminal connected to the first gate; and
a fourth terminal connected to the second gate portion;
wherein said at least three metal terminals extend from said top surface to said bottom surface of said device such as to
allow external electrical contact with any one of said at least three metal terminals from said top surface or said bottom
surface of said device.

US Pat. No. 9,562,274

METHOD OF MAKING ULTRA-HIGH STRENGTH STAINLESS STEELS

Carnegie Mellon Universit...

1. A method of making an ultra-high strength stainless steel alloy suitable in the manufacture of aircraft landing gear comprising
the steps of:
(a) providing an alloy comprising 0 to 0.06% carbon (C); 12.0 to 18% chromium (Cr); 18.0 to 31.0% cobalt (Co); 0 to 8% molybdenum
(Mo); 0.5 to 5.0% nickel (Ni); 0 to 0.5% titanium (Ti); 0 to 1.0% niobium (Nb); 0 to 0.5% vanadium (V); 0 to 16% tungsten
(W); balance iron (Fe) and incidental deoxidizers and impurities;

(b) austenitizing the alloy;
(c) cooling the austenitized alloy to room temperature; and
(d) tempering the austenitized and cooled alloy,
wherein step (d) is performed after step (c) without any further processing being conducted in between.
US Pat. No. 10,119,119

POLYSILOXANE SUBSTRATES WITH HIGHLY-TUNABLE ELASTIC MODULUS

1. A bioscaffold comprising:a sterile substrate comprising a crosslinked mixture of a first composition comprising a polysiloxane and nanoparticles and a second composition comprising independently a polysiloxane and which does not comprise nanoparticles, and an extracellular matrix (ECM) component deposited on a surface of the crosslinked mixture; and
cells grown or cultured on the sterile substrate.

US Pat. No. 10,090,007

DUAL-SIDE SPIN TRANSFER SPIN TORQUE OSCILLATOR

Carnegie Mellon Universit...

1. An oscillation mechanism comprising:a first spin-polarization layer having a first magnetic moment;
a second spin-polarization layer having a second magnetic moment, wherein an orientation of the second magnetic moment is configured to oppose an orientation of the first magnetic moment;
a field-generating layer disposed between the first spin-polarization layer and the second spin-polarization layer for generating a magnetic field that oscillates around one or more of the first and second magnetic moment orientations, the field-generating layer having a thickness that is at least twice a thickness of either the first spin-polarization layer or the second spin-polarization layer; and
a field-guide layer comprising a fixed magnetization;
wherein the field-guide layer, the first spin-polarization layer, and the second spin-polarization layer are configured to cause the magnetic field that oscillates around the one or more of the first and second magnetic moment orientations to be approximately uniform across the thickness of the field-generating layer.

US Pat. No. 10,019,790

FILL LEVEL INDICATOR FOR AN AUTOMATED UNLOADING SYSTEM

Carnegie Mellon Universit...

1. A method of displaying on a user interface a level of agricultural material in a container, the method comprising:obtaining stereo image data from at least one imaging device facing the container;
identifying a perimeter of an opening of the container from the image data using an image processing module;
determining a reliability of an edge identified in the perimeter of the opening of the container using an edge detector,
wherein the edge detector identifies and locates discontinuities between pixels in the image data;
dividing the opening into a matrix of cells,
wherein each cell of the matrix of cells spans a width of the container;
determining an average height of pixels in the stereo image data for each cell in the matrix of cells,
wherein the height of the pixels corresponds to a height of the agricultural material in the container;
displaying on a user interface first augmented image data relating to the height of the agricultural material in each cell in the matrix of cells relative to a height of the container where the perimeter of the opening of the container intersects a boundary of each cell in the matrix of cells;
displaying on a user interface second augmented image data relating to the perimeter of the opening of the container,
wherein the first augmented image data and the second augmented image data are overlaid on the image data of the container.

US Pat. No. 10,002,286

SYSTEM AND METHOD FOR FACE RECOGNITION ROBUST TO MULTIPLE DEGRADATIONS

Carnegie Mellon Universit...

1. A system for correcting for degradations in a 2D image of a face captured with an image sensor, comprising:a computing device executing software for performing the functions of:
(a) placing a plurality of fiducial points at landmarks on said face, each of said fiducial points corresponding to a fiducial point for a mean face calculated over a database set of faces;
(b) calculating a function which captures the deviation of each fiducial point from said mean fiducial point;
(c) using a thin-plate spline function to create a test face by minimizing a function which provides a measure of the smoothness of the function calculated in step (b);
(d) selecting a set of uniformly-distributed points on said mean face; and
(e) finding a set of points on said test face corresponding to said uniformly-distributed set of points on said mean face.
US Pat. No. 9,995,679

TARGETED PROBES OF CELLULAR PHYSIOLOGY

Carnegie Mellon Universit...

1. A complex comprising:a biosensor comprising malachite green covalently linked by a linker to a single ion-sensitive cyanine dye or an ion-sensitive rhodamine dye that interacts with an analyte ion; and
an activator of malachite green bound to the malachite green, wherein the activator comprises one of SEQ ID NOS: 3-9,
wherein the malachite green produces a fluorescence signal increase of at least 100-fold when it is bound to the activator as compared to when no activator is bound to the malachite green,
wherein the ion-sensitive cyanine dye or ion-sensitive rhodamine dye transfers excitation energy to the malachite green such that, when activated by binding to the activator, the malachite green produces a detectable fluorescent signal when the ion-sensitive cyanine dye or ion-sensitive rhodamine dye is excited and the ion-sensitive cyanine dye or ion-sensitive rhodamine dye transfers different amounts of excitation energy to the malachite green, and the malachite green fluoresces at a different intensity at different analyte ion concentrations, and
wherein the ion-sensitive cyanine dye is a trimethine cyanine dye.

US Pat. No. 9,636,007

METHOD AND APPARATUS FOR AIDING IN THE DIAGNOSIS OF OTITIS MEDIA BY CLASSIFYING TYMPANIC MEMBRANE IMAGES

Carnegie Mellon Universit...

12. A system for aiding a diagnosis of otitis media in a patient, comprising:
an output device; and
a computing device having a processor apparatus structured and configured to
obtain image data, the image data being associated with at least one electronic image of a tympanic membrane of the patient;
calculate a plurality of image features, each image feature being calculated based on at least a portion of the image data,
wherein the plurality of image features includes: (i) a concavity feature which indicates a degree of concavity of a region
located centrally in the tympanic membrane, (ii) a translucency feature which indicates a degree of translucency of the tympanic
membrane, (iii) an amber level feature which indicates a degree of amber color present in the tympanic membrane, (iv) a grayscale
variance feature which indicates a degree of variance of intensities across a grayscale version of the at least one electronic
image, (v) a bubble presence feature which indicates a degree to which bubbles are present in the tympanic membrane, and (vi)
a light feature which indicates a degree of non-uniformity of illumination in the at least one electronic image;

classify the at least one electronic image into one of a plurality of predetermined clinical diagnostic categories for otitis
media using the plurality of image features and a predetermined decision process; and

cause the output device to output an indication of the one of the plurality of predetermined clinical diagnostic categories.

US Pat. No. 9,050,652

METHODS FOR CASTING BY A FLOAT PROCESS AND ASSOCIATED APPARATUSES

Carnegie Mellon Universit...

1. A method for producing a solid layer material, comprising:
providing a first layer;
providing a second liquid layer on the first layer;
providing a third liquid layer on the second liquid layer, wherein the third liquid layer has a melting point that is higher
than a melting point of the second liquid layer, and wherein the second liquid layer is between the first and third layers;

cooling a surface of the third liquid layer to a temperature less than the melting point of the third liquid layer;
forming the solid layer from the third liquid layer while cooling the third layer liquid; and
removing the solid layer, wherein:
the first layer is in liquid form, has a melting point, and has a first density;
the second liquid layer has a melting point and a second density, and the second density is less than the first density;
the second liquid layer is located between the first and third layers;
the third liquid layer has a melting point that is higher than both the melting point of the first liquid layer and the melting
point of the second liquid layer.

US Pat. No. 10,147,220

PRECOMPUTING DATA FOR AN INTERACTIVE SYSTEM HAVING DISCRETE CONTROL INPUTS

Carnegie Mellon Universit...

1. A method comprising:accessing a plurality of sets of outputs for an interactive animation, with each set of outputs being associated with a different sequence of a plurality of sequences of discrete control inputs, and with each set of outputs comprising an output that provides a stored portion of the interactive animation;
identifying a particular output of the plurality of sets of outputs that provides a blend of first and second stored portions of the interactive animation, the blend being associated with an error value above a threshold, wherein the error value represents a difference between the first stored portion of the interactive amination included in the blend and the second stored portion of the interactive animation included in the blend;
in accordance with the error value being above the threshold, modifying the particular output to provide a third stored portion of the interactive animation;
replacing, in the particular output, the blend of the first and second stored portions of the interactive animation with the third stored portion; and
transmitting, to a client device, information indicative of at least one of the plurality of sets of outputs that includes the particular output that provides the third stored portion of the interactive animation, which when rendered by the client device causes the interactive animation to be presented to a user.

US Pat. No. 10,121,055

METHOD AND SYSTEM FOR FACIAL LANDMARK LOCALIZATION

CARNEGIE MELLON UNIVERSIT...

1. A system for automatically localizing a set of facial landmarks on a facial image comprising:creating M sets of seed landmarks by placing seed landmarks on the facial image using a plurality of pose-specific local detectors, one pose-specific local detector for each one of M discrete yaw angles;
aligning each set of seed landmarks with a plurality of pose-specific dense shapes comprising a dense set of landmarks;
evaluating each dense shape for each of the M sets of seed landmarks to determine the best dense shape for each of the M sets of seed landmarks; and
refining each of M best dense shapes and ranking the M best dense shapes to determine the single best dense shape containing dense landmarks best aligned with the facial image.

US Pat. No. 10,038,446

RELIABILITY OF PHYSICAL UNCLONABLE FUNCTION CIRCUITS

Carnegie Mellon Universit...

1. A method comprising:obtaining a physical unclonable function (PUF) circuit;
said PUF circuit configured to provide, during a first operational mode, an output signal that is dependent on a first electric characteristic of the PUF circuit;
causing the PUF circuit to enter a second operational mode by:
applying a stress signal to the PUF circuit that changes an absolute value of the first electric characteristic, relative to another value of the first electric characteristic during the first operational mode of the PUF circuit; and
adjusting, based on changing the absolute value of the first electric characteristic, a bias magnitude of the output signal relative to another bias magnitude of the output signal during the first operational mode of the PUF circuit;
wherein first and second inputs of the PUF circuit are respectively received by at least a first circuit component having the first electric characteristic and a second circuit component having a second, different electric characteristic; and
receiving the output signal of the PUF circuit, wherein the output signal is based on the first and second electric characteristics.

US Pat. No. 10,026,431

MAGNETIC SHIFT REGISTER

Carnegie Mellon Universit...

1. A memory device, comprising:at least one magnetic track on a substrate, wherein the at least one magnetic track comprises one or more magnetic domains;
contacts disposed on the at least one magnetic track according to a predetermined arrangement to form a plurality of bitcells on the at least one magnetic track, wherein each one of the plurality of bitcells is configured to store at least one magnetic domain; and
a timing circuit connected to the contacts, with the timing circuit being configured to apply to the contacts multiple phases of electric currents according to a predetermined timing sequence to cause the at least one magnetic domain to shift from the each one of the plurality of bitcells to an adjacent one of the plurality of bitcells on the at least one magnetic track.

US Pat. No. 9,927,512

METHOD AND SYSTEM FOR ULTRASONIC SIGNALING, RANGING AND LOCATION TRACKING

Carnegie Mellon Universit...

1. A method for locating a mobile device comprising the method steps of:modulating an ultrasound signal with i. one or more symbols capable of Pulse Compression, and ii. a fade-in preceding each symbol of the one or more symbols and a fade-out following the each symbol of the one or more symbols or a fading function applied to the each symbol of the one or more symbols;
transmitting the modulated ultrasound signal in a frequency range from about 19 to 24 KHz from a transmitter;
receiving the modulated ultrasound signal using at least one mobile device;
demodulating the modulated ultrasound signal to form a demodulated ultrasound signal,
wherein at least one symbol of the demodulated ultrasound signal denotes the time of arrival of the modulated ultrasound signal;
extracting the time of arrival from the demodulated ultrasound signal; and
obtaining the transmitter identifier of the transmitter associated with received modulated ultrasound signal;
looking up the transmitter identifier in a transmitter map to determine the location of the transmitter; and
determining the location of the mobile device based on the transmitter location and the time of arrival.

US Pat. No. 9,796,082

SERIES ELASTIC ACTUATORS FOR ROBOTS AND ROBOTIC DEVICES

Carnegie Mellon Universit...

1. An actuator comprising:
a ring shaped first plate having an inner radius and an outer radius;
a ring shaped second plate having a same inner radius and outer radius as the first plate; and
an elastic element sandwiched between the first plate and the second plate, the elastic element in contact with the first
plate and the second plate along a full span between the inner radius and the outer radius, the elastic element including
a center portion and an edge portion, the center portion corresponding to a first thickness and the edge portion corresponding
to a second thickness larger than the first thickness, the elastic element being shaped so that a first shear stress associated
with the center portion is equal to a second shear stress associated with the edge portion.

US Pat. No. 9,795,621

METHODS AND MATERIALS FOR REDUCING ORGAN TRANSPLANT REJECTION OR ISCHEMIC/REPERFUSION INJURY IN A SUBJECT

Carnegie Mellon Universit...

1. A method of reducing organ transplant rejection due to ischemia or ischemic reperfusion injury in a human subject, the
method comprising administering a fat emulsion, wherein the fat emulsion comprises 20% soybean oil, 1.2% Egg yolk phospholipid,
and 2.25 glycerin, to the subject before the subject undergoes an organ transplant, wherein the fat emulsion is administered
between 24 hours before and 24 hours after the organ transplantation.

US Pat. No. 9,792,734

METHODS AND SOFTWARE FOR VOLUME-CENTRIC SHAPE ABSTRACTION AND SIMPLIFICATION OF A 3D DIGITAL MODEL

Carnegie Mellon Universit...

1. A method of generating a finer volumetric abstraction for viewing by a human viewer, the finer volumetric abstraction corresponding
to a digital three-dimensional (3D) input model, the method comprising:
digitally acquiring a coarser volumetric abstraction corresponding to the digital 3D input model;
digitally performing subvolume extraction to determine one or more subvolumes to add to or subtract from the coarser volumetric
abstraction;

for each subvolume of the one or more subvolumes:
digitally determining, as a function of the digital 3D input model, whether to 1) add the subvolume to the coarser volumetric
abstraction or 2) subtract the subvolume from the coarser volumetric abstraction; and

depending on said digitally determining, either 1) digitally adding the subvolume to the coarser volumetric abstraction or
2) digitally subtracting the subvolume from the coarser volumetric abstraction in generating the finer volumetric abstraction;

outputting the finer volumetric abstraction for viewing by the human viewer;
wherein:
said digitally performing subvolume extraction includes, for each subvolume of the one or more subvolumes:
digitally fitting a volume primitive to the coarser volumetric abstraction; and
digitally geometrically beautifying the volume primitive as a function of the digital 3D input model to create the subvolume;
and

the coarser volumetric abstraction includes surfaces and the method further comprises segmenting the surfaces into clusters
of matched or unmatched subregions as a function of the digital 3D input model; and

determining where on the coarser volumetric abstraction to fit the volume primitive as a function of said segmenting.

US Pat. No. 9,770,588

INGESTIBLE, ELECTRICAL DEVICE FOR STIMULATING TISSUES IN A GASTROINTESTINAL TRACT OF AN ORGANISM

Carnegie Mellon Universit...

1. An ingestible, electrical device, comprising:
two or more collapsible electrodes each comprising a biocompatible conducting material and a biocompatible insulating material,
wherein at least one collapsible electrode of the two or more collapsible electrodes has a first form factor when enclosed
in the outer casing and a second form factor following a dissolution of the outer casing, wherein the first form factor is
a form factor that is collapsed an increased amount relative to an amount that the second form factor is collapsed, and wherein
the second form factor is a form factor that is collapsed a decreased amount relative to an amount that the first form factor
is collapsed;

a generator connected to the two or more collapsible electrodes, with the generator being configured to deliver one or more
of a current or a voltage across the two or more collapsible electrodes to stimulate one or more internal cells of an organism
that ingests the ingestible, electrical device; and

an outer casing enclosing the two or more collapsible electrodes and the generator, the outer casing configured to dissolve
in an aqueous environment of the organism,

wherein a portion of a first one of the two or more collapsible electrodes is configured to move independently of a portion
of a second one of the two or more collapsible electrodes once the outer casing dissolves.

US Pat. No. 9,619,375

METHODS AND SYSTEMS FOR AUTOMATICALLY TESTING SOFTWARE

Carnegie Mellon Universit...

1. A method comprising:
by a dynamic symbolic execution engine comprising one or more processors:
accessing software code to be automatically tested, the software code including multiple execution paths through multiple
executable statements of the software code; and

performing a dynamic phase of an automatic test of the software code by performing dynamic symbolic execution of a first portion
of the execution paths, the dynamic symbolic execution of the first portion omitting a second portion of the execution paths
and forking a separate symbolic executor for each execution path in the first portion, each forked symbolic executor generating
a corresponding formula for the corresponding execution path;

by a static symbolic execution engine comprising one or more processors:
determining that the second portion of the execution paths is devoid of non-statically interpretable executable statements;
and

performing a static phase of the automatic test of the software code by performing static symbolic execution of the second
portion of the execution paths in response to the determining that the second portion is devoid of non-statically interpretable
executable statements, the static symbolic execution of the second portion omitting the first portion of the execution paths
and generating at least one formula that corresponds to all executable statements in the second portion of the execution paths
and corresponds to no executable statements in the first portion of the execution paths; and

by a solver module comprising one or more processors, generating a set of test cases for the software code by solving the
formulas generated during the dynamic and static phases of the automatic test of the software code.

US Pat. No. 10,130,298

MUSCULOSKELETAL ACTIVITY RECOGNITION SYSTEM AND METHOD

CARNEGIE MELLON UNIVERSIT...

1. A muscle activity recognition method, comprising:detecting, via a network of more than one inertial sensor node distributed on a physically active muscle group of a user's body, muscle vibration data, wherein each inertial sensor node comprises at least one inertial sensor including an accelerometer;
determining, via a server communicatively coupled to each inertial sensor node, a unique vibration signature to identify the muscle group of the user's body, wherein the unique vibration signature is determined from a stream of muscle vibration data compiled from each accelerometer of each inertial sensor node, and wherein the server is configured to execute a muscle activity recognition module programmed to:
filter the stream of muscle vibration data through a high pass filter;
extract features from the filtered stream of muscle vibration data by calculating a select set of feature vectors;
combine the select set of feature vectors into a matrix, wherein the matrix constitutes the unique vibration signature associated with the muscle group of the user's body; and
identify, via a classifier, the muscle group of the user's body corresponding to the determined unique vibration signature based on the calculated select set of feature vectors; and
presenting, via a user interface, a human-like avatar comprising a plurality of visualized body parts, wherein the identified muscle group of the user's body is highlighted on its corresponding visualized body part of the human-like avatar to distinguish different physically active muscle groups of the user's body and to monitor the identified muscle group of the user's body.

US Pat. No. 10,115,004

METHODS AND SOFTWARE FOR HALLUCINATING FACIAL FEATURES BY PRIORITIZING RECONSTRUCTION ERRORS

Carnegie Mellon Universit...

1. A method of hallucinating facial features of a first face by prioritizing reconstruction errors, wherein the first face is present in an image in which a first portion of the first face is un-occluded and a second portion of the first face is occluded, the method comprising:receiving the image of the first face, the first portion containing one or more first facial features;
training a machine-learning algorithm using a set of images each containing a region of a face of an individual corresponding to the first portion of the first face and a region of the face of the individual corresponding to the second portion of the first face so as to produce machine-learning data or receiving machine-learning data corresponding to a previous implementation of such training; and
hallucinating one or more second facial features within the second portion of the first face as a function of the machine-learning data by prioritizing reconstruction errors for hallucinating the one or more second facial features such that reconstruction error for the one or more first facial features is minimized with a higher priority than reconstruction error for hallucinating the one or more second facial features.

US Pat. No. 10,108,866

METHOD AND SYSTEM FOR ROBUST CURB AND BUMP DETECTION FROM FRONT OR REAR MONOCULAR CAMERAS

GM Global Technology Oper...

1. A method of detecting a curb comprising:capturing an image of a path of travel by an image capture device mounted to a vehicle, wherein an optical axis of the image capture device is parallel to a plane of a surface having the curb, and the image capture device has an XYZ camera-center reference system;
applying a feature extraction technique by a processor to the captured image to generate extracted features of the captured image;
applying a classifier to the extracted features to identify a candidate region in the image;
localizing curb edges by the processor in the candidate region of the captured image by extracting edge points;
identifying at least one candidate curb as a function of the extracted edge points;
selecting a pair of parallel curves representing the candidate curb;
determining a range from the image capture device to the candidate curb via the processor;
and
enabling a vehicle application to assist a driver in maneuvering a vehicle utilizing the determined range to the candidate curb;
wherein determining the range includes using the following formula:

where Dg is the range, wg and ug are the coordinates along respective axes Z and X, in the XYZ camera-center reference system, of a bearing vector b=(u,v,w) of a point on the image, and h is a height of the image capture device above a road surface having the candidate curb.

US Pat. No. 10,061,756

MEDIA ANNOTATION VISUALIZATION TOOLS AND TECHNIQUES, AND AN AGGREGATE-BEHAVIOR VISUALIZATION SYSTEM UTILIZING SUCH TOOLS AND TECHNIQUES

Carnegie Mellon Universit...

1. A computer-implemented method of facilitating guided discussion of an electronic interest-group document by members of an interest group, wherein the electronic interest-group document includes content, the method being executed by an aggregate-behavior visualization system and comprising:displaying, to a moderator, a user interface (UI) configured to allow the moderator to:
select the electronic interest-group document for the guided discussion;
associate the electronic interest-group document with the interest group; and
set up a plurality of tools each customizable to the electronic interest-group document, wherein each tool is configured to elicit responses from the members of the interest group concerning the content of the electronic interest-group document and includes an annotator-response-tool that receives the responses from at least some of the members of the interest group;
receiving, from the moderator, via the UI:
a selection of the electronic interest-group document;
an association of the electronic interest-group document with the interest group; and
a customization of at least one tool of the plurality of tools, wherein the at least one tool is customized to the electronic interest-group document so as to elicit responses pertaining to the content of the electronic interest-group document from at least some of the members of the interest group;
displaying, to each member of the interest group:
at least a portion of the electronic interest-group document; and
the at least one tool as customized to the content of the electronic interest-group document by the moderator;
receiving, from a first plurality of annotators from within ranks of the members of the interest group, a corresponding first plurality of annotations pertaining to the content of the electronic interest-group document in response to presentation of the at least one tool to the plurality of members;
executing one or more aggregate-behavior visualization algorithms that each use the first plurality of annotations or use metadata associated therewith, or use both the first plurality of annotations and the metadata, as needed, to determine relationships among the first plurality of annotations or among the first plurality of annotators or among both of the first plurality of annotations and first plurality of annotators;
receiving, from a user, a selection of a type of aggregate-behavior visualization to display to the user; and
displaying, to the user, an aggregate-behavior visualization of the type selected by the user, wherein the displayed aggregate-behavior visualization graphically represents the relationships determined, by the one or more aggregate-behavior visualization algorithms.

US Pat. No. 10,014,462

PIEZOELECTRIC NANOELECTROMECHANICAL RELAYS

Carnegie Mellon Universit...

1. An apparatus, comprising:a body terminal comprising a first body electrode and a second body electrode;
a gate terminal comprising a first gate electrode and a second gate electrode;
a first actuator between the first body electrode and the first gate electrode, the first actuator comprising a first piezoelectric material;
a second actuator between the second body electrode and the second gate electrode, the second actuator comprising a second piezoelectric material;
a beam comprising a first end attached to the first actuator, a second end attached to the second actuator, and a suspended section between the first end and the second end;
a metal channel attached to the suspended section of the beam;
a source terminal extending over the beam; and
a drain terminal extending over the beam,
wherein the first actuator and the second actuator are each configured to generate piezoelectric stress when an actuation voltage is applied between the body terminal and the gate terminal, and
wherein the beam is configured for one or more structural modifications in response to the piezoelectric stress to modify one or more distances from the metal channel to the source terminal and the drain terminal.

US Pat. No. 9,892,543

SYSTEMS AND METHODS FOR ESTIMATING POSE OF TEXTURELESS OBJECTS

CARNEGIE MELLON UNIVERSIT...

1. A system to output a pose of a textureless object, the system comprising:
a processing device; and
a non-transitory, processor-readable storage medium, the non-transitory, processor-readable storage medium comprising one
or more programming instructions that, when executed, cause the processing device to:

obtain a single image of the textureless object, wherein the pose of the textureless object is inferred from the single image;
generate a three dimensional model of the textureless object from a plurality of viewpoints and a plurality of scales obtained
from image data of the textureless object;

extract a plurality of patches from each of a plurality of discretized renders of the three dimensional model, wherein the
plurality of patches comprises a plurality of high-level patches and a plurality of low-level patches;

link each one of the plurality of high-level patches to at least one of the plurality of low-level patches to construct a
multi-level illumination invariant tree structure;

match the single image with a discretized render of the three dimensional model via the multi-level illumination invariant
tree structure to obtain an alignment of the single image with the discretized render; and

output the pose of the textureless object based on the alignment.

US Pat. No. 9,884,011

INGESTIBLE, ELECTRICAL DEVICE FOR ORAL DELIVERY OF A SUBSTANCE

Carnegie Mellon Universit...

1. An ingestible, electrical device, comprising:
a substrate comprising a reservoir that is configured to hold one or more substances;
a first film covering the reservoir, wherein the first film is at least partially metallic;
a charge storage system connected to the first film, the charge storage system configured to deliver a transient electrochemical
potential to the first film;

wherein the first film is configured to prevent exposure of the substance to an aqueous environment in an organism, while
the charge storage system delivers the transient electrochemical potential to the first film; and

wherein the first film is configured for dissolution to expose the one or more substances to the aqueous environment in the
organism, after the charge storage system stops delivering the transient electrochemical potential to the first film.

US Pat. No. 10,128,658

AUTONOMOUS METHODS, SYSTEMS, AND SOFTWARE FOR SELF-ADJUSTING GENERATION, DEMAND, AND/OR LINE FLOWS/REACTANCES TO ENSURE FEASIBLE AC POWER FLOW

Carnegie Mellon Universit...

1. A machine-readable storage medium containing machine-executable instructions for performing a method of managing line flows in a network having nodes with lines coupling adjacent ones of the nodes and components coupled to the nodes, the method being executed in a self-adjusting line flow control system, said machine-executable instructions comprising:a first set of machine-executable instructions for receiving an objective function having component variables, nodal output variables, and branch flow variables for the network;
a second set of machine-executable instructions for initializing the component variables, nodal output variables and branch flow variables with initial values;
a third set of machine-executable instructions for calculating values for the branch flow variables using a distributed Newton method, and calculating values for the component variables and the nodal output variables using values calculated for the branch flow variables until the values of the component variables, the nodal output variables, and the branch flow variables converge within a predetermined threshold range;
a fourth set of machine-executable instructions for determining a power flow configuration of the network as a function of one or more variables calculated by the third set of machine-executable instructions, wherein the determining of the power flow configuration includes determining a set of Lagrange multiplier values corresponding to nodal power balance at corresponding ones of the nodes;
a fifth set of machine-executable instructions for automatically determining whether or not the power flow configuration is feasible, wherein said fifth set of machine-executable instructions includes machine-executable instructions that determine whether or not any of the Lagrange multiplier values in the set of Lagrange multiplier values are not equal to zero;
a sixth set of machine-executable instructions for determining, when one or more of the Lagrange multiplier values are not equal to zero, adjustments to be made to power injections leaving or entering at the nodes so that the power flow configuration is feasible, wherein the determining includes identifying the specific nodes in the network where the power flow configuration is infeasible based on the ones of the Lagrange multiplier values that are not zero; and
a seventh set of machine-executable instructions applying the adjustments to the network so as to manage the line flows in the lines of the network.

US Pat. No. 9,796,089

SUPERVISED AUTONOMOUS ROBOTIC SYSTEM FOR COMPLEX SURFACE INSPECTION AND PROCESSING

Carnegie Mellon Universit...

25. A system for performing surface processing on a three-dimensional object in a work environment comprising:
one or more robotic manipulators, each of said robotic manipulators including an end effector having a surface processing
tool, a ranging sensor and one or more surface property sensors attached thereto, said one or more robotic manipulators being
mounted on a stationary base or mobile base capable of moving on a surface;

a computer running software for controlling said one or more robotic manipulators, said software comprising:
a surface property analyzer, for processing surface properties sensor data before and after the processing point of said surface
processing tool to classify the current state of said surface;

a surface model for storage of the geometry of said surface and said current state of said surface, wherein the software is
adapted to generate the surface model by refining a three-dimensional base model by the surface property analyzer performing
a surface scan of said three-dimensional object and augmenting said base model with range data and surface property data obtained
from said scan;

a surface process planner for planning a sequence of processing actions to be carried out by said processing tool based on
an observed state of said surface stored in said surface model, wherein the surface process planner is adapted to create a
temporal sequence of states of said one or more robotic manipulators comprising a set of positions and poses to maximize processing
of said surface of said three-dimensional object while avoiding a collision between said three-dimensional object and said
robotic manipulators;

a surface process modulator for modifying said planned sequence of processing actions based on real-time feedback from said
ranging sensor and said one or more surface property sensors; and

a surface coverage planner, for planning movements and poses of said one or more robotic manipulators to maximize coverage
of said surface;

wherein said one or more robotic manipulators each includes one or more relative position sensors for measuring the three-dimensional
position and orientation of the end effector for each of said robotic manipulators relative to a work area to minimize pose
error due to relative motion between optical based positioning and each of said robotic manipulators.

US Pat. No. 9,766,320

METHOD AND APPARATUS FOR LOCATING A MOBILE DEVICE WITHIN AN INDOOR ENVIRONMENT

CARNEGIE MELLON UNIVERSIT...

1. A method for locating a mobile device, said method comprising:
periodically transmitting radio signals via a transmitter;
transmitting a modulated ultrasound signal via said transmitter, wherein said modulated ultrasound signal includes at least
one symbol configured for pulse compression;

in response to the receipt of a demodulated ultrasound signal sent from a mobile device, wherein said demodulated ultrasound
signal is derived from said modulated ultrasound signal, extracting transmitter identifier and timing information from said
demodulated ultrasound signal and radio signals;

determining whether or not said demodulated ultrasound signal is originated from a line-of-sight (LOS) sourse;
in response to a determination that said demodulated signal is not originated from a LOS source, discarding said demodulated
ultrasound signal;

determining a location of said transmitter based on said transmitter identifier information; and
determining a location of said mobile device based on said timing information and said determined location of said transmitter.

US Pat. No. 10,137,300

INGESTIBLE ELECTRICAL DEVICE FOR STIMULATING TISSUES IN A GASTROINTESTINAL TRACT OF AN ORGANISM

Carnegie Mellon Universit...

1. A method performed by an ingestible, electrical device, comprising:following a dissolution of an outer casing of the ingestible, electrical device, expanding a form factor of one or more electrodes included in the ingestible, electrical device;
wherein at least one of the one or more electrodes comprises a biocompatible conducting material and a biocompatible insulating material; and
wherein the dissolution occurs in an organism that ingests the ingestible, electrical device;
activating, based on exposure to an aqueous environment in the organism, a generator of the ingestible, electrical device, the generator being connected to the one or more electrodes;
following activation of the generator, delivering one or more of a current or a voltage across the one or more electrodes of the ingestible, electrical device;
stimulating, based on delivery of the one or more of the current or the voltage, one or more internal cells of the organism that ingests the ingestible, electrical device; and
ceasing to deliver the one or more of the current or the voltage across the one or more electrodes after a predetermined time;
wherein the ingestible, electrical device is configured to break down following a cease in delivery of the one or more of the current or the voltage.

US Pat. No. 10,039,651

MICROMINIATURE CHAINMAIL INTERFACE BETWEEN SKIN AND A TRANSCUTANEOUS PROSTHETIC DEVICE AND A METHOD OF MANUFACTURE

CARNEGIE MELLON UNIVERSIT...

1. A direct skeletal attachment device comprising:an intramedullary stem adapted to be inserted into a cavity of a bone;
a post adapted to interface with a prosthesis;
an interface positioned between the post and stem,
wherein the interface extends radially from a first end proximate the post and stem to a second end;
wherein the interface is rigid at the first end;
wherein the interface comprises a series of interconnected links forming a chainmail scaffolding.