Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Double Patenting
The nonstatutory double patenting rejection is based on a judicially created doctrine grounded in public policy (a policy reflected in the statute) so as to prevent the unjustified or improper timewise extension of the “right to exclude” granted by a patent and to prevent possible harassment by multiple assignees. A nonstatutory double patenting rejection is appropriate where the conflicting claims are not identical, but at least one examined application claim is not patentably distinct from the reference claim(s) because the examined application claim is either anticipated by, or would have been obvious over, the reference claim(s). See, e.g., In re Berg, 140 F.3d 1428, 46 USPQ2d 1226 (Fed. Cir. 1998); In re Goodman, 11 F.3d 1046, 29 USPQ2d 2010 (Fed. Cir. 1993); In re Longi, 759 F.2d 887, 225 USPQ 645 (Fed. Cir. 1985); In re Van Ornum, 686 F.2d 937, 214 USPQ 761 (CCPA 1982); In re Vogel, 422 F.2d 438, 164 USPQ 619 (CCPA 1970); In re Thorington, 418 F.2d 528, 163 USPQ 644 (CCPA 1969).
A timely filed terminal disclaimer in compliance with 37 CFR 1.321(c) or 1.321(d) may be used to overcome an actual or provisional rejection based on nonstatutory double patenting provided the reference application or patent either is shown to be commonly owned with the examined application, or claims an invention made as a result of activities undertaken within the scope of a joint research agreement. See MPEP § 717.02 for applications subject to examination under the first inventor to file provisions of the AIA as explained in MPEP § 2159. See MPEP § 2146 et seq. for applications not subject to examination under the first inventor to file provisions of the AIA . A terminal disclaimer must be signed in compliance with 37 CFR 1.321(b).
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Claims 1-20 are rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1-20 of U.S. Patent No. 12,090,665 Although the claims at issue are not identical, they are not patentably distinct from each other because of the following:
Claim 1 of USP 12,090,665
Claim 1 of US Application 18/887,375
generating a workspace model having one or more digital robots, one or more digital systems, and a digital transport system, wherein the workspace model is a digital model of the workspace, the one or more digital robots are digital models of the one or more robots, and the one or more digital sensors are digital models of the one or more sensors;
simulating, for a task of the one or more digital robots, a sensor operation of the one or more digital sensors within the workspace model…
generating a depth map based on the simulation of the sensor operation and each of the one or more digital robots, the one or more digital sensors…
identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map…
selectively positioning, based on an aggregate ratio being greater than a threshold aggregate ratio and a coverage ratio associated with each of the undetectable areas being less than a threshold coverage ratio, a set of sensors from among the one or more sensors based on the undetectable areas associated with the task.
generating a workspace model based on a virtual representation of a physical workspace, the workspace model including one or more digital robots and one or more digital sensors; simulating, for a task of the one or more digital robots, a sensor operation of the one or more digital sensors within the workspace model; generating a depth map in response to the simulation of the sensor operation, each of the one or more digital robots, and the one or more digital sensors;
identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map; and selectively positioning a set of sensors from among the one or more sensors based on the undetectable areas associated with the task.
Claim 2 of USP 12,090,665
Claim 2 of US Application 18/887,375
selectively positioning the set of sensors further comprises moving the set of sensors along the transport system
selectively positioning the set of sensors further comprises moving the set of sensors along a digital transport system, wherein the workspace model further includes the transport system
Claim 3 of USP 12,090,665
Claim 3 of US Application 18/887,375
selectively positioning the set of sensors further comprises rotating the set of sensors
selectively positioning the set of sensors further comprises rotating the set of sensors
Claim 4 of USP 12,090,665
Claim 4 of US Application 18/887,375
the workspace further comprises one or more actuators attached to the set of sensors; and the one or more actuators are configured to rotate the set of sensors
the workspace model further includes one or more actuators attached to the set of sensors, and wherein the one or more actuators are configured to rotate the set of sensors
Claim 5 of USP 12,090,665
Claim 5 of US Application 18/887,375
determining the aggregate undetectable area based on the undetectable areas associated with the task
determining an aggregate undetectable area based on the undetectable areas associated with the task
Claim 8 of USP 12,090,665
Claim 6 of US Application 18/887,375
the set of sensors are selectively positioned such that the undetectable area corresponds to the Pareto optimal state
selectively positioning the set of sensors in response to the aggregate undetectable area not satisfying a detection metric
Claim 7 of USP 12,090,665
Claim 7 of US Application 18/887,375
determining whether the aggregate undetectable area corresponds to a pareto optimal state
determining whether the aggregate undetectable area corresponds to a pareto optimal state
Claim 8 of USP 12,090,665
Claim 8 of US Application 18/887,375
the set of sensors are selectively positioned such that the undetectable area corresponds to the Pareto optimal state
the undetectable area corresponds to the pareto optimal state based on the selective positioning of the set of sensors
Claim 9 of USP 12,090,665
Claim 9 of US Application 18/887,375
the undetectable area within the workspace model is identified based on a plurality of voxels representing the workspace model
the undetectable area within the workspace model is identified based on a plurality of voxels representing the workspace model
Claim 10 of USP 12,090,665
Claim 10 of US Application 18/887,375
the undetectable area within the workspace model is determined based on one or more values of the depth map, and wherein each of the one or more values of the depth map is associated with one of the plurality of voxels
the undetectable area within the workspace model is determined based on one or more values of the depth map, and wherein each of the one or more values of the depth map is associated with one of the plurality of voxels
Claim 11 of USP 12,090,665
Claim 11 of US Application 18/887,375
the undetectable area within the workspace model is determined in response to the one or more values of the depth map being less thana threshold depth value
the undetectable area within the workspace model is determined in response to the one or more values of the depth map being less than a threshold depth value
Claim 12 of USP 12,090,665
Claim 12 of US Application 18/887,375
determining the aggregate undetectable area based on the undetectable areas associated with the task; and
determining whether the aggregate undetectable area satisfies a detection metric based on a multi-objective optimization routine, wherein the set of sensors are selectively positioned along the transport system in response to the aggregate undetectable area not satisfying the detection metric.
determining an aggregate undetectable area based on the undetectable areas associated with the task; and
determining whether the aggregate undetectable area satisfies a detection metric based on a multi-objective optimization routine, wherein the set of sensors are selectively positioned along a digital transport system of the workspace model in response to the aggregate undetectable area not satisfying the detection metric.
Claim 13 of USP 12,090,665
Claim 13 of US Application 18/887,375
the transport system is configured to move the set of sensors in a two-dimensional space of the workspace, a three-dimensional space of the workspace, or a combination thereof
the digital transport system is configured to move the set of sensors in a two-dimensional space of the workspace model, a three-dimensional space of the workspace model, or a combination thereof
Claims 14-20 discloses analogous limitations to claim 1-13 and are therefore also rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1-13 of U.S. Patent No. 12,090,665.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
Chong et al. (US 2020/0193686) – discloses techniques for determining optimal sensor configuration by generating a virtual model operating within an environment. However Chong fails to explicitly disclose “simulating, for a task of the one or more digital robots, a sensor operation of the one or more digital sensors within the workspace model” and “identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map; and selectively positioning a set of sensors from among the one or more sensors based on the undetectable areas associated with the task”.
Boca et al. (US 2020/0201268) – discloses a robotic system configured to analyze sensor data and generate and update a prediction model associated with a virtual scene in the workspace including determining data from the virtual sensor which have detected one or more areas blocked by an object within the simulated environment. However Boca fails to explicitly disclose “identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map; and selectively positioning a set of sensors from among the one or more sensors based on the undetectable areas associated with the task”.
DeVore et al. (US 2021/0097147) – discloses a method for generating a simulated sensor based on placement and orientation of the virtual sensor within the virtual environment. Simulating the sensor outputs may result in detection of a field of view blocking the sensor, or a blind spot. However DeVore fails to explicitly disclose “simulating, for a task of the one or more digital robots, a sensor operation of the one or more digital sensors within the workspace model” and “identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map; and selectively positioning a set of sensors from among the one or more sensors based on the undetectable areas associated with the task”.
Lam et al. (US 2023/0342967) – discloses optimization of a robotic operational environment to reduce the occlusion of one or more sensors. However Lam does not explicitly disclose “identifying, an undetectable area within the workspace model based on the simulated sensor operation and the generation of the depth map; and selectively positioning a set of sensors from among the one or more sensors based on the undetectable areas associated with the task”.
Any inquiry concerning this communication or earlier communications from the examiner should be directed to ZACHARY JOSEPH WALLACE whose telephone number is (469)295-9087. The examiner can normally be reached 7:00 am - 5:00 pm, Monday - Friday.
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/Z.J.W./Examiner, Art Unit 3656
/WADE MILES/Supervisory Patent Examiner, Art Unit 3656