1
Katsuji Okumura: Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions. Automax Kabushiki Kaisha, Jordan and Hamburg, June 16, 1987: US04674048 (277 worldwide citation)

A control system for a mobile robot calculates the instantaneous position of the robot, and sequentially stores data representative of the respective robot positions. The system studies and stores a range which the robot is to travel, and calculates a running pattern of the robot in the specific ran ...


2
Katsuji Okumura, Hiroshi Maeda, Isao Taoka: Stirrer for use in liquid storage tanks. Nippon Mining, Automax Kabushiki Kaisha, Jordan and Hamburg, May 24, 1988: US04746221 (13 worldwide citation)

A device with vertical buoyancy tanks fitted to its upper part is provided with rotors which generate horizontal and vertical propulsion, and which stirs the liquid uniformly as it moves freely through a liquid storage tank, thereby preventing the accumulation of sludge. The vertical buoyancy tanks ...


3
Katsuji Okumura, Hiroshi Maeda, Isao Taoka: Stirrer for use in liquid storage tanks, and a method for determining its position in the tank. Nippon Mining, Automax Kabushiki Kaisha, Frank J Jordan, November 22, 1988: US04786186 (1 worldwide citation)

A device with vertical buoyancy tanks fitted to its upper part is provided with rotors which generate horizontal and vertical propulsion, and which stirs the liquid uniformly as it moves freely through a liquid storage tank, thereby preventing the accumulation of sludge. The vertical buoyancy tanks ...