Electronically Filed May 7, 2015
`
`PATENT
`Attorney Docket No. 45236-734.301
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`IN THE UNITED STATES PATENT AND TRADEMARK OFFICE
`
`In re Application:
`
`Inventor: Bo Zang
`
`Application No.: 14/471,954
`
`Filing Date: August 28, 2014
`
`Title: SYSTEMS AND METHODS FOR TARGET
`TRACKING
`
`Confirmation No.: 7890
`
`Examiner: Peter D. Nolan
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`Group Art Unit: 3661
`
`Customer No.: 021971
`
`Mail Stop Amendment
`Commissioner of Patents
`P.O. Box 1450
`Alexandria, VA 22313-1450
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`SUPPLEMENTAL AMENDMENT AND
`RESPONSE TO NON-FINAL OFFICE ACTION
`
`Sir:
`
`This paper supplements the Amendment and Response to Non-Final Office Action filed
`
`on April 6, 2015. Applicants respectfully request reconsideration of the above-referenced
`
`application in view of the following amendments and remarks.
`
`Amendments to Claims begin on page 2 of this paper.
`
`Remarks begin on page 9 of this paper.
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`7321479_1.docx
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`Yuneec Exhibit 1006 Page 1
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`Amendments to the Claims:
`
`1.
`
`(Currently Amended) A system for controlling an unmanned aerial vehicle (UA V),
`
`comprising:
`
`one or more receivers, individually or collectively, configured to receive from a remote user
`
`(1) one or more navigation commands to move the UAV along a flight path, and (2) target
`
`information of a target to be tracked by an imaging device on the UA V; and
`
`one or more processors, individually or collectively, configured to track the target according
`
`to the target information by automatically adjusting at least one of the UAV or the imaging device
`
`while the UA V moves along the flight path according to the one or more navigation commands from
`
`the remote user, wherein the one or more processors, individually or collectively, make a
`
`determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging
`
`device, wherein said determination is dependent upon a) number of rotational axis of the imaging -
`
`device and orientation of said rotational axis relative to the UAV; b) a navigation path of the UAV;
`
`or c) a maximum angular speed allowable for the UAV or the imaging device 'tvherein the adjustment
`
`involves adjusting an angular velocity of the UA.V relative to a yaw axis or pitch mds of the UAV,
`
`and wherein an absolute value of the angular velocity being adjusted depends on a deviation in
`
`distance benveen an eKpected and actual position of the target in an image captured by the imaging
`
`de\4ee.
`
`2.
`
`(Original) The system of claim 1, wherein the target information comprises initial
`
`target information comprising an initial position or an initial size of the target within an image
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`captured by the imaging device.
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`3.
`
`(Original) The system of claim 1, wherein the target information comprises target
`
`type information comprising color, texture, or pattern information.
`
`4.
`
`(Original) The system of claim 3, wherein tracking the target according to the target
`
`information further comprises identifying, based on the target type information, the target to track
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`from within one or more images captured by the imaging device using an image recognition
`
`algorithm.
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`5.
`
`(Original) The system of claim 1, wherein the target information comprises expected
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`target information comprising an expected position or an expected size of the target within an image
`
`captured by the imaging device.
`
`6.
`
`7.
`
`(Canceled)
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`(Original) The system of claim 1, wherein the imaging device is coupled to the UA V
`
`via a carrier configured to permit the imaging device to rotate around at least two axes relative to the
`
`UAV.
`
`8.
`
`(Original) The system of claim 7, wherein the target information comprises expected
`
`target information and tracking the target according to the target information comprises:
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`determining current target information of the target based on one or more images captured by
`
`the imaging device;
`
`detecting a deviation of the current target information from the expected target information;
`
`and
`
`calculating an adjustment to the UAV, the carrier, or the imaging device so as to substantially
`
`correct the deviation.
`
`9.
`
`(Previously Presented) The system of claim 8, wherein the deviation is related to a
`
`change in position of the target and the calculated adjustment is related to an angular velocity for the
`
`imaging device relative to a yaw axis or a pitch axis of the imaging device.
`
`10.
`
`(Original) The system of claim 9, wherein the calculated adjustment is used to
`
`generate control signals for the carrier so as to cause the imaging device to move relative to the
`
`UAV.
`
`11.
`
`(Canceled)
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`12.
`
`(Previously Presented) The system of claim 8, wherein the one or more processors are
`
`configured to provide a warning signal ifthe adjustment falls outside a predetermined range
`
`corresponding to a predetermined range of control lever amount of a control system comprising a
`
`navigation control system for the UA V or a control system for the carrier.
`
`13.
`
`(Currently Amended) A method for controlling an unmanned aerial vehicle
`
`(UA V), comprising:
`
`receiving, from a remote user, user-specified target information of a target to be tracked
`
`by an imaging device on the UA V, the user-specified target information including a
`
`predetermined position or predetermined size of the target within an image captured by the
`
`imaging device, the imaging device coupled to the UA V via a carrier configured to permit the
`
`imaging device to move relative to the UAV;
`
`detecting, by one or more processors onboard the UAV, a deviation from the predetermined
`
`position or the predetermined size of the target based on one or more images captured by the imaging
`
`device; and
`
`automatically adjusting the UAV, the carrier, or the imaging device so as to substantially
`
`correct the detected deviation from the predetermined position or the predetermined size of the target,
`
`wherein the one or more processors, individually or collectively, make a determination to adjust 1)
`
`the UA V, 2) the imaging device, or 3) both the UA V and the imaging device, wherein said
`
`determination is dependent upon a) a navigation path of the UAV; orb) a maximum linear speed
`
`allowable for the UAVwherein the adjustment involves adjusting a linear velocity of the UAV that is
`
`dependent upon the detected deviation from the predetermined size of the target ·.vithin the image.
`
`14.
`
`(Canceled)
`
`15.
`
`(Original) The method of claim 13, wherein the predetermined position of the target
`
`comprises an initial position or an expected position of the target and the predetermined size of the
`
`target comprises an initial size or an expected size of the target.
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`16.
`
`(Original) The method of claim 13, wherein detecting the deviation from the
`
`predetermined position or the predetermined size of the target comprises comparing a position or size
`
`of the target within the one or more images captured by the imaging device with the predetermined
`
`position or predetermined size, respectively.
`
`17.
`
`(Currently Amended) The method of claim 13, wherein adjusting the UAV, the
`
`carrier, or the imaging device comprises calculating an adjustment to the UAV, the carrier, or the
`
`imaging device so as to substantially correct the deviation the adjustment involves adjusting a linear
`
`velocity of the UAV that is dependent upon the detected deviation from the predetermined size of the
`
`target within the image.
`
`18.
`
`(Canceled)
`
`19.
`
`(Original) The method of claim 17, wherein the deviation is related to a change in size of
`
`the target and the adjustment is related to a linear velocity for the UA V or one or more parameters of the
`
`imaging device and wherein the one or more operational parameters of the imaging device comprise focal
`
`length, zoom level, imaging mode, image resolution, focus, depth of field, exposure, lens speed, or field
`
`of view.
`
`20.
`
`(Original) The method of claim 13, further comprising providing a warning signal if
`
`the adjustment falls outside a predetermined range corresponding to a predetermined range of control
`
`lever amount of a control system comprising a navigation control system for the UA Vora control
`
`system for the carrier.
`
`21.
`
`(Original) The method of claim 13, further comprising transmitting, in substantially
`
`real-time, images captured by the imaging device to a remote user device accessible to the remote
`
`user, the remote user device comprises a display for displaying the images captured by the imaging
`
`device and an input device for providing the target information comprising a touchscreen, joystick,
`
`keyboard, mouse, stylus, or a wearable device.
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`22.
`
`(Currently Amended) An apparatus for controlling an unmanned aerial vehicle
`
`(UA V), comprising:
`
`a display configured to display one or more images captured by an imaging device coupled
`
`to the UAV;
`
`an input device configured to receive a user selection of a target from within at least one of
`
`the one or more images being displayed on the display;
`
`one or more processors, individually or collectively, configured to generate target
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`information of the target based at least in part on the user selection of the target; and
`
`a transmitter configured to provide the target information to the UA V so as to allow the UA V
`
`to autonomously track the target according to the target information, wherein the one or more
`
`processors, individually or collectively, make a determination to adjust 1) the UA V, 2) the imaging
`
`device, or 3) both the UA V and the imaging device, wherein said determination is dependent upon a)
`
`number of rotational axis of the imaging device and orientation of said rotational axis relative to the
`
`UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for the UAV or
`
`the imaging device and by adjusting an angular velocity of the UAV according to a deviation in
`
`distance bet\veen an expected and actual position of the target in the one or more images being
`
`displayed on the display.
`
`23.
`
`(Original) The apparatus of claim 22, wherein the target information comprises initial
`
`target information, target type information, and/or expected target information.
`
`24.
`
`(Canceled)
`
`25.
`
`(Original) The apparatus of claim 22, wherein the user selection of the target is
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`achieved by a user selecting an area of the at least one of the one or more images being displayed on
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`the display, the selected area corresponding to the target.
`
`26.
`
`(Original) The apparatus of claim 22, wherein the one or more processors,
`
`individually or collectively, are further configured to display, on the display, the selected target with
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`Serial No. 14/471,954
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`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`a selection indicator in response to the user selection of the target, the selection indicator indicating
`
`that the target has been selected by the user.
`
`27.
`
`(Previously Presented) A system for controlling an unmanned aerial vehicle
`
`(UA V), comprising:
`
`a receiver configured to receive, in substantially real-time, one or more images captured by
`
`an imaging device coupled to the UA V;
`
`an input device configured to receive user-specified target information of a target including a
`
`predetermined position or a predetermined size of a target within an image from the one or more
`
`images;
`
`a transmitter for providing the user-specified target information to the UA V, and the user's
`
`input on allocation of control over a tracking process between the user and an onboard processing
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`system ofthe UAV; and
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`a display configured to display the one or more images and a tracking indicator associated
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`with the target within the one or more images, the tracking indicator indicating that the target is being
`
`tracked by the UAV in substantially real-time according to the user-specified target information.
`
`28.
`
`(Original) The system of claim 27, wherein the imaging device is coupled to the
`
`UAV via a carrier configured to permit the imaging device to rotate relative to the UAV along at
`
`least one axis and wherein the input device is further configured to receive one or more commands
`
`adapted to control a speed, position, orientation or attitude of the UAV and/or the carrier.
`
`29.
`
`(Original) The system of claim 28, wherein the target is tracked by the imaging
`
`device according to the target information via automatic adjustment to at least one of the UAV, the
`
`carrier, or the imaging device.
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`30.
`
`(Original) The system of claim 27, wherein the predetermined position comprises an
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`initial or expected position of the target and the predetermined size comprises an initial or
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`expected size of the target.
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`31.
`
`(Currently Amended) The system of claim 1, wherein the angular velocity is directly
`
`proportional to the deviation in distance bet\veen the expected and actual positionUA V comprises a
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`plurality of rotors configured to generate lift for the UAV.
`
`32.
`
`(Currently Amended) The system of claim I ,wherein the one or more processors,
`
`individually or collectively, makes a determination as to adjust 1) the UAV, 2) the imaging device, or
`
`3) both the UAV and the imaging device, wherein said determination is dependent upon a) a number
`
`and orientation of rotational axis of the imaging device relative to the UAV; b) a navigation path of
`
`the UAV; or c) a maximum angular speed allowable for the UA V or the imaging device.
`
`33.
`
`(Currently Amended) The method of claim 13, ·.vherein the one or more processors,
`
`individually or collectively, makes a determination as to adjust 1) the UAV, 2) the imaging device, or
`
`3) both the UAV and the imaging device, wherein said determination is dependent upon aj-a
`
`navigation path of the UAV; orb) a maximum linear speed allowable for the UAV; or c) maximum
`
`zoom level or focal length allmvable for the imaging device.
`
`34.
`
`(Currently Amended) The method of claim 13, wherein the linear velocity is linearly
`
`proportional to the detected deviation from the predetermined size of the target within the
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`tm-ageUA V comprises a plurality of rotors configured to generate lift for the UAV.
`
`35.
`
`(Previously Presented) The system of claim of 27, wherein the system is configured
`
`to dynamically adjust the allocation of the control over the tracking process between the user and the
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`UA V based upon a surrounding of the UA V, speed, altitude, computer resource available on board or
`
`off board the UAV.
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`Serial No. 14/471,954
`Non-Final Office Actfon Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`REMARKS:
`
`Upon entry of this amendments, claims 1-5, 7-10, 12, 13, 15-17, 19-23, and 25-35 will be
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`pending and at issue in the present application. Claims 6, 11, 14, 18, and 24 are canceled
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`without prejudice. Claims 1, 13, 17, 22, and 31-34 are amended. Support for the claim
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`amendments can be found in the application as originally filed. See, e.g., paragraphs 0170, 0180,
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`0230, and 0253 and claim 9 as originally filed. No new matter has been added. Reconsideration
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`is respectfully requested in light of the following remarks.
`
`Examiner Interview
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`Applicants thank Examiner Nolan for the helpful and courteous in-person interview
`
`conducted on April 20, 2015. Examiner Peter D. Nolan, Daijun Zhou, Karen Wong, and Elaine
`
`Kim, representatives of the Applicants were in attendance. During the interview, the cited art
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`and proposed amendments to the claims were discussed. Examiner agreed that proposed
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`amendments would advance prosecution.
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`Claim Objections
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`Claims 12, 23, were 27 were objected to due to alleged informalities. Claims 12, 23, and
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`27 were previously amended in the Response to Non-Final Office Action filed on April 6, 2015
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`as suggested by the Examiner. Withdrawal of this objection is respectfully requested.
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`Claims Rejections Under 35 U.S.C. §102
`
`Claims 1-6, 13, 14, 16-18, and 20-25 were rejected under 35 U.S.C. 102(a)(l) as
`
`allegedly being anticipated by Bevirt (US 2012/0287274 Al).
`
`Independent claim 1 is directed to a system for controlling an unmanned aerial vehicle.
`
`Claim 1 as amended recites in part that "the one or more processors, individually or collectively,
`
`make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UA V and the
`
`imaging device, wherein said determination is dependent upon a) number of rotational axis of the
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`Serial No. 14/471,954
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`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`imaging device and orientation of said rotational axis relative to the UAV; b) a navigation path of the
`
`UAV; or c) a maximum angular speed allowable for the UAV or the imaging device." Independent
`
`claim 22 recites similar elements. Independent claim 13 recites in part "automatically adjusting
`
`the UA V, the carrier, or the imaging device so as to substantially correct the detected deviation from
`
`the predetermined position or the predetermined size of the target, wherein the one or more
`
`processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging
`
`device, or 3) both the UA V and the imaging device, wherein said determination is dependent upon a)
`
`a navigation path of the UAV; orb) a maximum linear speed allowable for the UAV." These
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`elements and/or others are missing from Bevirt.
`
`Bevirt discloses a system for tracking and video surveillance using an aerial videographic
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`platform (Bevirt, Abstract). The aerial platform may "record from a prescribed position, or on a
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`given trajectory pattern either relative to the OoI location, or relative to a fixed reference
`
`location" and "may track the user using a GPS offset" (Bevirt, paragraphs [0015], [0018]).
`
`Nothing in the cited disclosure of Bevirt teaches or that the one or more processors, individually or
`
`collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV
`
`and the imaging device, wherein said determination is dependent upon a) number of rotational axis of
`
`the imaging device and orientation of said rotational axis relative to the UA V; b) a navigation path of
`
`the UAV; or c) a maximum angular speed allowable for the UAV or the imaging device, as recited
`
`in claim 1 and 22. Furthermore, nothing in the cited disclosure of Bevirt teaches or suggests a
`
`method to automatically adjust the UAV comprising automatically adjusting the UAV, the carrier,
`
`or the imaging device so as to substantially correct the detected deviation from the predetermined
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`position or the predetermined size of the target, wherein the one or more processors, individually or
`
`collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV
`
`and the imaging device, wherein said determination is dependent upon a) a navigation path of the
`
`UAV; orb) a maximum linear speed allowable for the UAV, as recited in claim 13.
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`Serial No. 14/471,954
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`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`Accordingly, one or more elements of independent claims 1, 13, and 22 are missing from
`
`Bevirt. Therefore, claims 1, 13, 22, and claims dependent therefrom, are novel over Bevirt.
`
`Withdrawal of this rejection is respectfully requested.
`
`Claims Rejections Under 35 U.S.C. §103
`
`Claims 7-12, 15 and 19 were rejected under 35 U.S.C. 103 as allegedly being
`
`unpatentable over Bevirt in view of Lee et al. (US 2012/0307042 Al).
`
`Claims 7-12 are directly or indirectly dependent upon claim 1, which recites that the one
`
`or more processors, individually or collectively, make a determination to adjust I) the UAV, 2) the
`
`imaging device, or 3) both the UAV and the imaging device, wherein said determination is dependent
`
`upon a) number of rotational axis of the imaging device and orientation of said rotational axis
`
`relative to the UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for
`
`the UA V or the .imaging device. Claims 15 and 19 are directly or indirectly dependent upon claim
`
`13, which recites automatically adjusting the UAV, the carrier, or the imaging device so as to
`
`substantially correct the detected deviation from the predetermined position or the predetermined size
`
`of the target, wherein the one or more processors, individually or collectively, make a determination
`
`to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging device, wherein
`
`said determination is dependent upon a) a navigation path of the UAV; orb) a maximum linear speed
`
`allowable for the UAV. As previously discussed, these elements and/or others are missing from
`
`Bevirt.
`
`Lee fails to cure the deficiencies of Bevirt. Lee discloses adjustments that are related to
`
`"a flight height and a flight orientation" of a UAV (Lee, paragraph [0009]). Nothing in the cited
`
`disclosure of Lee even hints that the one or more processors, individually or collectively, make a
`
`determination to adjust 1) the UAV, 2) the imaging device, or 3) both the UAV and the imaging
`
`device, wherein said determination is dependent upon a) number of rotational axis of the imaging
`
`device and orientation of said rotational axis relative to the UA V; b) a navigation path of the UAV;
`
`or c) a maximum angular speed allowable for the UA V or the imaging device, as recited in claim 1.
`
`Additionally, the cited disclosure of Lee fails to suggest automatically adjusting the UAV, the
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`carrier, or the imaging device so as to substantially correct the detected deviation from the
`
`predetermined position or the predetermined size of the target, wherein the one or more processors,
`
`individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging device, or 3)
`
`both the UA V and the imaging device, wherein said determination is dependent upon a) a navigation
`
`path of the UAV; orb) a maximum linear speed allowable for the UAV, as recited in claim 13.
`
`Since the combination of Bevirt and Lee fail to disclose all elements of independent
`
`claims 1 and 13, claims 7-12, 15, and 19 are not obvious in view of Bevirt and Lee and
`
`withdrawal of this rejection is respectfully requested.
`
`Claims 26-30 were rejected under 35 U.S.C. 103 as allegedly being unpatentable over
`
`Bevirt in view of Karins et al. (US 2012/0143808 Al).
`
`Claim 26 depends directly upon base claim 22, which recites that the one or more
`
`processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the imaging
`
`device, or 3) both the UA V and the imaging device, wherein said determination is dependent upon a)
`
`number of rotational axis of the imaging device and orientation of said rotational axis relative to the
`
`UA V; b) a navigation path of the UA V; or c) a maximum angular speed allowable for the UA V or
`
`the imaging device. As previously mentioned, one or more elements of independent claim 22 are
`
`missing from Bevirt.
`
`Karins fails to cure the deficiencies of Bevirt. Karins discloses an apparatus, system, and
`
`method for identifying a target object (Karins, Abstract). Karins fails to teach that the one or
`
`more processors, individually or collectively, make a determination to adjust 1) the UAV, 2) the
`
`imaging device, or 3) both the UAV and the imaging device, wherein said determination is dependent
`
`upon a) number of rotational axis of the imaging device and orientation of said rotational axis
`
`relative to the UAV; b) a navigation path of the UAV; or c) a maximum angular speed allowable for
`
`the UA V or the imaging device, as recited in claim 22. Since the combination of Bevirt and
`
`Karins fail to disclose all elements of claim 22, claim 26 is not obvious in view of Bevirt and
`
`Karins.
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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`Independent claim 27 is directed to a system for controlling an unmanned aerial vehicle.
`
`Claim 27 as amended recites "a transmitter for providing ... user's input on allocation of control
`
`over a tracking process between the user and an onboard processing system of the UAV." This
`
`element and/or others are missing from Bevirt and Karins.
`
`Bevirt discloses a system for tracking and video surveillance using an aerial videographic
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`platform (Bevirt, Abstract). The platform may allow a user to "select from a variety of
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`operational modes" (Bevirt, paragraph [0015]). The operational modes may relate to recording
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`from prescribed positions or relative to the OoI location, or relative to a fixed reference location
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`(Bevirt, paragraph [0015]). Karins discloses an apparatus, system, and method for identifying a
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`target object (abstract). Nothing in the cited disclosure of Bevirt nor Karins teaches or suggests a
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`system that apparatus that allows for a user's input on allocation of control over a tracking
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`process between the user and an onboard processing system of the UAV (emphasis added).
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`Accordingly, one or more elements of independent claim 27 are missing from both Bevirt and
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`Karins. Therefore, claim 27 and claims 28-30 which are dependent on claim 27 are not obvious
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`over Bevirt in view of Karins.
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`Accordingly, claims 26-30 are not obvious in light of the cited references. A request is
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`respectfully made for withdrawal of this rejection.
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`7237480.DOC
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`-13-
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`Atty. Docket No.: 45236-734.301
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`Yuneec Exhibit 1006 Page 13
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`

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`Serial No. 14/471,954
`Non-Final Office Action Mailed On January 5, 2015
`Supplemental Amendment And Response To Non-Final Office Action Filed May 7, 2015
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`CONCLUSION
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`Applicants believe that the application is in condition for allowance and respectfully
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`solicit the Examiner to expedite prosecution of this patent application to issuance. Should the
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`Examiner have any questions, the Examiner is encouraged to telephone the undersigned.
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`The Commissioner is authorized to charge any additional fees which may be required,
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`including petition fees and extension of time fees, to Deposit Account No. 23-2415 (Docket No.
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`45236-734.301).
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`Respectfully submitted,
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`WILSON SONSINI GOODRICH & ROSATI
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`By: _ _ (_f_..__.---_· - - - -
`Elaine Kim, Reg. No. 57,613
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`Dated: May 7, 2015
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`650 Page Mill Road
`Palo Alto, CA 94304-1050
`Direct Dial: (650) 565-3808
`Customer No. 021971
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`7237480.DOC
`
`Atty. Docket No.: 45236-734.301
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`-14-
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`Yuneec Exhibit 1006 Page 14