US007698097B2
`
`a2) United States Patent
`Pasolini et al.
`
`(10) Patent No.:
`(45) Date of Patent:
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`US 7,698,097 B2
`Apr. 13, 2010
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`(54) METHOD FOR CONTROLLING A
`PEDOMETER BASED ON THE USE OF
`INERTLAL SENSORS AND PEDOMETER
`IMPLEMENTING THE METHOD
`
`........... 702/182
`5/2005 Blackadaret al.
`6,898,550 BI
` L/2007 Tsuji
`....s.cescceseseecseeeeeeeee 482/8
`7,169,084 B2*
`
`....cccceceseserseereeeeee 482/3
`7,297,088 B2* 11/2007 Tsuji
`2001/0031031 Al* 10/2001 Ogawaetal.
`.........0. 377/24.2
`
`(75)
`
`Inventors:
`
`Fabio Pasolini, S. Martino Siccomario
`(IT); Ivo Binda, Voghera (IT)
`
`(73)
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`Assignee:
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`STMicroelectronics S
`Brianza (IT)
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`-R.L., Agrate
`
`(*) Notice:
`
`Subject to any disclaimer, the termof this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 707 days.
`
`(21)
`
`Appl. No.: 11/537,986
`
`(22)
`
`(65)
`
`(30)
`Oct.
`
`(51)
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`(52)
`
`(58)
`
`(56)
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`Filed:
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`Oct. 2, 2006
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`Prior Publication Data
`US 2007/0143069 Al
`Jun. 21, 2007
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`Foreign Application Priority Data
`
`3, 2005
`
`(EP)
`
`cicccecececsecsecseeeeteseeeeeees 05425684
`
`Int. Cl.
`(2006.01)
`GOIC 22/00
`(2006.01)
`GO6F 17/40
`ULS. Ch.
`ececececeeeeeeeeees 702/160; 702/176; 702/178;
`377/24.2
`Field of Classification Search ................. 702/160,
`702/176, 178
`See applicationfile for complete searchhistory.
`
`References Cited
`U.S. PATENT DOCUMENTS
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`FOREIGN PATENT DOCUMENTS
`
`GB
`JP
`JP
`
`2 359 890
`63-262784
`04-192095
`
`9/2001
`10/1988
`7/1992
`
`OTHER PUBLICATIONS
`
`Tasaka, Translation of JP 63262784, published Oct. 31, 1988.*
`Tasaka, Translation of H04-192095, publishedJul. 10, 1992.*
`
`* cited by examiner
`
`Primary Examiner—Hal D Wachsman
`(74) Attorney, Agent, or Firm—Lisa K. Jorgenson; Robert
`Iannucci; Seed IP Law Group PLLC
`
`(57)
`
`ABSTRACT
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`A method for controlling a pedometer includes the steps of:
`generating a signal correlated to movements ofa user ofthe
`pedometer; and detecting steps ofthe useron the basis ofthe
`signal. The method moreover envisages the steps ofchecking
`whether sequences ofdetected steps satisfy pre-determined
`conditions of regularity; updating a total number of valid
`steps ifthe conditions of regularity are satisfied; and prevent-
`ing the updating of the total number ofvalid steps if the
`conditions of regularity are not satisfied.
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`6,175,608 BL*
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`1/2001 Pylesetal. we 377/24.2
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`26 Claims, 3 Drawing Sheets
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`205
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`4 200
`Pe* Fgr=PD
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`210
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`= Nyc=0|220Ss
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`[™ a Nuwy = 0
`NO
`YES
`225
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`To
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`255
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`STEP
`YES
`— VALID.
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`NO
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`235
`NINV = NINV+1
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`YES
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`Niyy=0
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`LGEv. Uniloc USA
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`Page 1 of 10
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`Apr. 13, 2010
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`U.S. Patent
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`US 7,698,097 B2
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`U.S. Patent
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`Apr. 13, 2010
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`Sheet2 of 3
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`US 7,698,097 B2
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`U.S. Patent
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`Apr. 13, 2010
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`Sheet3 of 3
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`US 7,698,097 B2
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`Az
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`US 7,698,097 B2
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`1
`METHOD FOR CONTROLLING A
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`PEDOMETER BASED ON THE USE OF
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`INERTIAL SENSORS AND PEDOMETER
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`IMPLEMENTING THE METHOD
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`BACKGROUND OF THE INVENTION
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`regularity are satisfied; and preventing updating ofthe total
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`numberofvalid steps if the conditions of regularity are not
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`BRIEF DESCRIPTION OF THE SEVERAL
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`VIEWS OF THE DRAWINGS
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`DETAILED DESCRIPTION OF THE INVENTION
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`For a better understanding ofthe invention, an embodiment
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`thereof is now described, purely by way of non-limiting
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`example and with referenceto the attached plate of drawings,
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`FIG. 1 showsa simplified andpartially sectioned perspec-
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`tive view of a portable electronic device incorporating a
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`pedometer according to the present invention;
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`FIG.2 is a simplified block diagram of the pedometer of
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`FIG.1;
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`FIG. 3 shows a flowchart corresponding to a control
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`method according to the present invention executed by the
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`pedometer of FIGS. 1 and 2;
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`FIG. 4 is a more detailed flowchart correspondingto a first
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`step of the methodof FIG.3;
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`FIG.5 is a graphthat represents first quantities used in the
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`method according to the present invention;
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`FIG.6 is a graph that represents second quantities used in
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`the method according to the present invention;
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`FIG. 7 is a more detailed flowchart corresponding to a
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`second step of the method of FIG. 3; and
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`FIG. 8 is amoredetailed flowchart correspondingto a third
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`step of the methodof FIG.3.
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`1. Field of the Invention
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`The present invention relates to controlling a pedometer
`based on the use of inertial sensors.
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`2. Description of the Related Art
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`As is known, a pedometeris a device that can be carried by
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`a user and has the function of counting the numberof steps
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`during various walking or running activities for estimating
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`accordingly the distance traveled. The indications supplied
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`are useful for quantifying the motor activity performed by a
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`personin the course ofa given period, for instance, for clinical
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`purposes, for assessing the athletic performance, or even just
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`for simple personalinterest.
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`Thereliability of a pedometer obviously depends on the
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`precision in estimating the step length of the user at the
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`various rates of locomotion, but also on the selectivity in
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`recognizing and ignoring events not correlated to the gait,
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`which, however, cause perturbations resembling those pro-
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`duced by a step. For example, many pedometers are based on
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`the use of inertial sensors, which detect accelerations along a
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`substantially vertical axis, and recognize that a step has been
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`being made by a user whenthe timeplot of the acceleration
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`signal shows given morphological characteristics. Basically,
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`a step is recognized when the pedometer detects a positive
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`With reference to FIGS. 1 and 2, a pedometer 1 is inte-
`acceleration peak (i.e., a peak directed upwards) having an
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`grated within a portable electronic device, such as a cell
`amplitude greater than a first threshold, followed, at a dis-
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`phone 2. The pedometer 1 comprises an inertial sensor 3, a
`tance of some tenths of second, by a negative acceleration
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`control unit 5, equipped with a nonvolatile-memory module
`peak (directed downwards) having an amplitude greater than
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`(not illustrated herein), a display 6, and a communication
`a second threshold. However, there are many random events
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`interface 8, all housed on a card 9, which is, in turn, fixed
`that can interfere with correct recognition of the step. Impact
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`within a casing 10 of the cell phone 2. In the embodiment
`or other external vibrations and given movements of the user
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`described herein, the control unit 5 performs control func-
`can, in fact, give rise to so-called “false positives”, i.e., to
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`tions of the pedometer 1 and, moreover, presides over bi-
`events that are recognized as steps even though in actual fact
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`directional communication and over handling of the func-
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`tions envisagedfor the cell phone 2. Likewise, the display 6,
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`duced are compatible. Events of this type are very frequent
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`which is obviously arranged so as to be visible from the
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`also in periods of rest, when the user, albeit not walking, in
`outside of the casing 10, can be used for displaying both
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`any case performs movements that can be detected by the
`information regarding the pedometer 1 and, more in general,
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`pedometer. In the majority of cases, also “isolated” steps or
`information regarding the operation of the cell phone 2.
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`very brief sequences of steps are far from significant and
`Theinertial sensor 3 is a linear accelerometer of a MEMS
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`should preferably be ignored becausetheyare, in effect,irrel-
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`evant in regard to assessment of the motor activity for which
`the card9so as to have a detection axis Z substantially parallel
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`the pedometeris being used.
`to a longitudinal axis L ofthe casing 10 ofthe cell phone 2. In
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`Ofcourse,in all thesesituations, the count ofthe steps may
`practice, the detection axis Z and the longitudinal axis L are
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`substantially horizontal, when the cell phone2 is resting on a
`prove to be completely erroneous.
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`surface, and substantially vertical or slightly inclined with
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`respectto the vertical when the cell phone 2 is handled. The
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`inertial sensor 3 supplies at output an acceleration signal A,,
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`which is correlated to the accelerations undergone by the
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`inertial sensor 3 itself along the detection axis Z.
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`The control unit 5 receives and processes the acceleration
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`signal A, as explainedin detail hereinafter for identifying and
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`One embodimentis a method for controlling a pedometer.
`counting a total number of valid steps N,-, made by a user
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`The method includes: generating a signal correlated to move-
`wearing or carrying the pedometer1, for example, on his belt
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`ments of a user of the pedometer; detecting steps of the user
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`based on the signal; checking whether sequences of the
`configured for generating an estimate of the distance traveled
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`detected steps satisfy pre-determined conditions of regular-
`by the user and other data, such as, for example, estimates of
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`ity; updating a total numberofvalid steps if the conditions of
`the average speed during movementand energy consumption.
`Page 5 of 10
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`BRIEF SUMMARY OF THE INVENTION
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`One embodiment of the present invention is a method for
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`controlling a pedometer and a pedometer which overcomethe
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`described above limitations.
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`after the test on the state flag F,,of block 120 of FIG.3, the
`The total numberof valid steps N,---and the other data possi-
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`surveying procedure is executed, block 140). Otherwise (out-
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`The communication interface 8 in this case is based on the
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`put NO from block 205), the duration of the timeinterval T.
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`is comparedwith a second time threshold T.,, shorter than the
`transceiver system (known andnot shown)of the cell phone 2
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`first time threshold T,, and equal, for example, to 3 s (block
`and, preferably, also comprises a port (also known and not
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`215). If the second time threshold T,, has been exceeded
`shown) for communication with a computer. The communi-
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`(output YES from block 215), the number of valid control
`cation interface § can thus be used both for downloading the
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`steps N,. and the numberof invalid steps N,,,-are set to zero
`data produced by the pedometer 1 (amongst whichat least the
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`total numberof valid steps N,,,) and for uploading operating
`(block 220); then a step-recognition test is carried out (block
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`225). Otherwise (output NO from block 215), the control unit
`parameters for the pedometer 1 into the control unit 5.
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`5 directly executes the step-recognition test.
`The control unit 5 is configured for executing a control
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`In the step-recognition test of block 225, the control unit 5
`procedure,as illustrated with reference to FIGS. 3-8.
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`verifies whether the time plot of the acceleration signal A,
`Upon switching-on of the pedometer 1, an initialization
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`step is executed (block 100, FIG. 3), in whichafirst counter (i.e., the sequence of the samples acquired) has pre-deter-
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`of the total number of valid steps N,;; a second counter,
`mined characteristics. In particular (FIG. 5), a step is recog-
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`hereinafter referred to as numberofvalid control steps N;.;
`nized if the acceleration signal A, shows a positive peak,
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`and a third counter, hereinafter referred to as number of
`higher than a positive acceleration threshold A;,, followed by
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`invalid steps N,v;, are set to zero.
`a negative peak, smaller than a negative acceleration thresh-
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`The control unit 5 then executes a first counting procedure
`old An, and if the negative peak falls within a time window
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`(block 110), based upon the sampling of the acceleration
`TW ofpre-determined amplitude and, moreover, located at a
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`signal A, at a pre-determined frequency, for example 25 Hz.
`pre-determined distance after the positive peak.
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`In this step, the user is considered at rest and the control unit
`If the control unit 5 does not recognize an event corre-
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`5 is considered as waiting to recognize, on the basis of the
`sponding to a step (output NO from block 225), a new sample
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`acceleration signal A,, sequences of events corresponding to
`of the acceleration signal A, is read (block 200). If, instead,
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`a sequenceofsteps thatare close to one another, whichsatisfy
`the step-recognition test is passed (output YES from block
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`pre-determined conditions of regularity described in detail
`225), the control unit 5 executes a first validation test, corre-
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`hereinafter. When a sequence of steps corresponding to a
`spondingto the regularity of the individual step (block 230).
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`With referencealso to FIG.6, the validation occurs when the
`regular gait of the user is recognized, the first counting pro-
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`cedure is interrupted. Alternatively, the first counting proce-
`duration AT, of a current step K is substantially homoge-
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`dure terminates when a time interval T, that has elapsed from
`neous with respect to the duration AT,, of an immediately
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`the last step recognized is longer than a first time threshold
`preceding step K-1 (the duration of a generic step is deter-
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`Tx, for example 10 s. On exit from the first calculation
`mined by the time that has elapsed between an instant of
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`procedure,the control unit 5 sets a state flag F.,-to a first value
`recognition of the step of which the duration is evaluated and
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`C, if a sequenceof steps thatsatisfies the conditions of regu-
`an instant of recognition of the step that immediately pre-
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`larity has been recognized, and to a second value PD,if the
`cedesit). More precisely, the last step recognizedis validated
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`first time threshold T,, has been exceeded.
`if the instant of recognition of the current step T,(K) falls
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`Atthe endofthefirst counting procedure, the control unit
`within a validation interval TV, defined with respect to the
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`5 checks whetherthe state flag F,, has been set at the first
`instant of recognition of the immediately preceding step
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`value C (block 120), i.e., whether a sequenceof steps has been
`T,(K-1), in the following way:
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`recognized. If so (output YES from block 120), a second
`TV=[Tp(K-1)+ATg)-TA, Tp(K-1)+ATye+7B]
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`counting procedure is executed (block 130). The useris con-
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`sidered to be moving, andafirst counter, hereinafter referred
`where TA and TB are complementary portions ofthe valida-
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`tion interval TV.
`In the embodiment of the invention
`to as total numberofvalid steps N,-,, is incremented when-
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`ever an event correspondingto a step is recognized. Further-
`described herein, the complementary portions TA, TB are
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`more, the control unit 5 checksthe regularity ofthe sequences
`defined as follows, for the generic current step K:
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`of steps, as explained hereinafter, and, when an interruption in
`TA=ATg_/2
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`the locomotion is detected, the second counting procedure is
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`terminated, and execution of the first counting procedure
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`resumes (block 110).
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`Consequently,the validation interval is asymmetrical with
`If, instead, the state flag F,, has the second value PD,the
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`respect to the instant T,(K-1)+AT,._, and has an amplitude
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`pedometer1 is set in a low-consumption wait state (“power
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`equal to 3AT, ,/2. The validation interval TV could, how-
`down”state), and the control unit 5 executes a surveying
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`ever, be symmetrical and have a different amplitude. In prac-
`procedure (block 140). The surveying procedure terminates
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`tice, it is verified that the last step recognized is compatible
`when a variation of the d.c. component of the acceleration
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`with the frequencyof the last steps made previously.
`signal A, is detected, i.e., when the cell phone 2 that includes
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`the pedometer 1 is moved. The control unit 5 then returns to
`If the verification yields a negative result (output NO from
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`execution ofthefirst calculation procedure (block 110).
`block 230), the numberof invalid steps N,,,;- is incremented
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`Thefirst counting procedureis illustrated in greater detail
`by one (block 235) before being compared with a first pro-
`in FIG. 4.
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`grammable threshold number N,,,, for example 3 (block 240).
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`Initially, the control unit 5 reads a sample of the accelera-
`If the number of invalid steps N,,; has reached the first
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`tion signal A, (block 200) and then evaluates whetherthe time
`threshold number N,, (output YES from block 240), both the
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`interval T,. that has elapsed from the last step recognized is
`numberof invalid steps N,,,;, and the numberofvalid control
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`higherthan thefirst time threshold T,,, 1-e., whether the step
`steps N,,. are set to zero (block 245), and the first counting
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`recognition fails for a period longer thanthefirst time thresh-
`procedure is resumed, with reading of a new sample of the
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`old T,, (block 205). If so (output YES from block 205), the
`acceleration signal A, (block 200). If, instead, the numberof
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`state flag Fis set at the second value PD (block 210) and the
`invalid steps N,,;-is smaller than the first threshold number
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`first counting procedure is terminated (in this eventuality,
`N-,, (output NO from block 240), the numberofvalid control
`Page 6 of 10
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`LGEv. Uniloc USA
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`US 7,698,097 B2
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`TB=ATx;
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`LGE Exhibit 1006
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`LGE v. Uniloc USA
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`Page 6 of 10
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`LGE Exhibit 1006
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`steps N,< is decremented (block 250). In the embodiment
`and 4, respectively) when he remains for a long time in a
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`described herein, the decrementis equalto two. Ifthe result of
`closed environment, for example an office or a room, whereit
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`the decrement operation is negative, the number of valid
`would not in any case be possible to maintain a regular gait for
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`control steps N,- is set to zero (in practice, the updated value
`a long time. In this way, shorter sequences of steps are vali-
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`of the number of valid control steps N,. is equal to the
`dated and counted. Instead, during a more constant and
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`smaller between zero and the previous value ofthe numberof
`intense activity, such as running,the gait remains constant for
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`valid control steps N,,., decreased by two). Then, the control
`a long time, and hencethefirst threshold number N,,, and the
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`unit 5 reads a new sample ofthe acceleration signal A; (block
`second threshold number N,. can be programmed with
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`200).
`higher values (for example, 4 and 12, respectively). Step
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`Ifthefirst validation test ofblock 230 is passed, the number
`sequencesthat are shorter and notvery significantin relation
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`of valid control steps N;-.is incremented by one (block 255),
`to the activity performed can be ignored.
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`and then the control unit 5 executesa first test on regularity of
`FIG.7 illustrates in detail the second counting procedure
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`the sequenceof steps recognized (block 260). Thefirst regu-
`(executed in block 130 of FIG.3).
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`larity test is based upon a first condition of regularity and
`The control unit 5 initially reads a sample ofthe accelera-
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`envisages comparing the numberof valid control steps Nyc
`tion signal A, (block 300), and then evaluates whether the
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`with a second programmable threshold number N,. greater
`time interval T. that has elapsed from thelast step recognized
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`thanthefirst threshold number N,, (for example, 8). In prac-
`is higher than the first second time threshold T.,, (block 305).
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`tice, the first condition of regularity is satisfied when there is
`Ifso (outputYES from block 205), the numberofinvalid steps
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`a significant prevalence of steps spaced in a substantially
`N,yy and the numberof valid control steps N,,.. are zeroized
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`uniform way, at the most interrupted sporadically by a num-
`(block 310), and the second counting procedureis terminated.
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`berof irregular steps smaller than the first threshold number
`Otherwise (output NO from block 305), a step-recognition
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`N,,. If the numberofvalid control steps N;-. is smaller than
`test is carried out (block 315), identical to the step-recogni-
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`the second threshold number N,;, (output NO from block
`tion test of block 225 of FIG.3. Also in this case, then, step
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`260), the first condition of regularity is not satisfied, and the
`recognition is based upon the detection of a positive peak of
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`first regularity test indicates that there has not yet been iden-
`the acceleration signal A, followed by a negative peak that
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`tified a sequence of steps corresponding to a sufficiently
`falls in the time window TW (see FIG. 5).
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`regular gait, and hence the control unit 5 acquires once again
`If the control unit 5 does not recognize an event corre-
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`anew sampleof the acceleration signal A, (block 200), with-
`sponding to a step (output NO from block 315), a new sample
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`out the total numberofvalid steps N,-, being incremented.
`of the acceleration signal A, is read (block 300). If, instead,
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`Otherwise (output YES from block 260), a sequence of steps
`the step-recognition test is passed (output YES from block
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`is recognized thatsatisfies the first condition ofregularity, and
`315), a second validation test is made, corresponding to the
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`the first regularity test is passed. The numberofinvalid steps
`regularity of the individual step (block 320). The second
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`N,,yand the numberofvalid control steps N,,. are set to zero,
`validation test is altogether similar to the first validation test
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`carried out in block 230 of FIG. 3. Also in this case, then, the
`whereas the total numberof valid steps N,- is updated and
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`incremented by a value equalto the second threshold number
`last step recognizedis validated ifthe instant ofrecognition of
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`N,, (block 265). Furthermore, thestate flag F.,is set at the
`the current step T.(K) falls within the validation interval TV
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`countvalue, andthefirst counting procedureis terminated. In
`defined above. In practice, it is verified that the last step
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`this case, after the test on the state flag ofblock 120 of FIG.3,
`recognized is compatible with the frequencyof the last steps
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`the second counting procedure is executed (block 130).
`made previously.
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`In practice,the first counting procedure enables the pedom-
`Ifthe check yields a positive result (outputYES from block
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`eter 1 to remain waiting for a sequence of events correspond-
`320), the control unit 5 updatesthe total numberofvalid steps
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`N,,,and the numberof valid control steps N,,,, incrementing
`ing to a sequenceofsteps thatsatisfies the first condition of
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`regularity. The regularity of the gait is considered sufficient
`them by one (block 325). The numberofvalid control steps
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`when the numberofvalid control steps N,. reaches the sec-
`N,¢ is then compared with a third programmable threshold
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`ond threshold number N,,. The events consideredirregular or
`number N,, (block 330), which, in the embodimentdescribed
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`a waiting time that is too long between two successive steps
`herein, is equal to the second threshold number N,,. If the
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`numberof valid control steps N,,.. is smaller than the second
`cause the decrement (block 250) or the zeroing (blocks 220
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`and 245) of the numberofvalid control steps N,,,, so that the
`threshold number N,, (output NO from block 330), the con-
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`first counting procedure resumesfrom the start. As long as the
`trol unit 5 once again directly acquires a new sample of the
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`pedometer1 is in the waiting condition, the total numberof
`acceleration signal A, (block 300), whereas otherwise (out-
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`valid steps N,-; is not incremented because the useris still
`put YES from block 330), the numberof invalid steps Nv
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`considered as at rest. However, whenthe first regularity test
`and the number of valid control steps N,< are set to zero
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`(block 260) is passed, the total numberof valid steps N,-- is
`(block 335) prior to acquisition of a new sample A,.
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`immediately updated so as to take into accountthe valid steps
`If, instead, the secondvalidation test of block 320 is nega-
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`(equal to N,.) that make up the sequence considered as being
`tive, the numberof invalid steps N,,,, is incremented by one
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`regular. Isolated events and sequence of steps that are in any
`(block 340) before being compared with a fourth program-
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`case too short are thus advantageously ignored, whereas
`mable threshold number N,, (block 345), which,
`in the
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`counting of the steps promptly resumes also in the case of
`present embodiment, is equal to thefirst threshold number
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`isolated irregularities (for example, due to a non-homoge-
`N,,. If the numberofinvalid steps N,,;-is smaller than the
`neous acceleration or to a loss of balance at the start of
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`fourth threshold number N,,, (output NO from block 345), the
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`number of valid control steps N,. is decremented (block
`locomotion).
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`The possibility of programming the value of the first
`350), here by two. Also in this case, if the result of the
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`threshold number N,,, and of the second threshold number
`decrement operation is negative, the numberof valid control
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`N,, enables modification of the sensitivity of the pedometer
`steps N;is set to zero (the updated value of the numberof
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`in recognizing an initial sequence of steps. For example, the
`valid control steps N,. is equal to the smaller between zero
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`user can program lowervaluesof the first threshold number
`and the previous value of the numberof valid control steps
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`N,, and of the second threshold number N,, (for example 2
`N,¢, decreased by two). Then, the control unit 5 reads a new
`Page 7 of 10
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`LGEv. Uniloc USA
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`LGE Exhibit 1006
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`LGE v. Uniloc USA
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`Page 7 of 10
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`LGE Exhibit 1006
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`US 7,698,097 B2
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`20
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`Whenthe surveying procedure is started, a current mean
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`value A,,, of the acceleration