Electrohydraulic actuator

An electrohydraulic actuator is provided, which comprises a working cylinder (22), having a piston (23) comprising a first and second piston surface (231, 232) displaceable in said working cylinder and two working chambers (24, 25) designed in the working cylinder (22) and bounded by the piston (23), as well as electric control valves. Of the two working chambers (24, 25), a first working chamber (24) that is permanently subject to high pressure is bounded by the first piston surface (231) and a second working chamber (25) is bounded by the larger second piston surface (232). The control valves alternately establish a connection of the second working chamber (25) to high pressure and low pressure. In order to achieve comprehensive options for controlling the piston (23) over the stroke path thereof, at least one of the connections of the second working chamber (25) to high and low pressure is established with a plurality of control valves, wherein both a plurality of high pressure control ...

Wave Energy Converter, and Associated Operating Method and Control Device

A wave energy converter comprises a rotor, which is designed to convert a wave movement of a body of water, in which the wave energy converter is arranged, into a rotational movement of the rotor, wherein a mean density of at least one rotating component of the rotor can be adjusted and/or is lower than the mean density of the fluid surrounding the rotor in the body of water. The disclosure likewise relates to a corresponding control device and an operating method. 1. A wave energy converter comprising:a rotor configured to convert a wave movement of a body of water, in which the wave energy converter is disposed, into a rotational movement of the rotor,wherein the rotor includes at least one rotating component, andwherein a mean density of the at least one rotating component of the rotor is adjustable and/or is lower than a mean fluid density of a fluid surrounding the rotor in the body of water.2. The wave energy converter according to claim 1 , wherein the at least one rotating component includes at least one of a rotor base claim 1 , a lever arm claim 1 , and at least one coupling member of the rotor that couples with the wave movement.3. The wave energy converter according to claim 1 , wherein the at least one rotating component includes two components of the rotor arranged substantially symmetrically about an axis of rotation of the rotor.4. The wave energy converter according to claim 3 , further comprising:a compensation mechanism configured to compensate for differences in mean densities of the at least two components of the rotor distributed uniformly about an axis of rotation of the rotor.5. The wave energy converter according to claim 1 , wherein the at least one rotating component of the rotor is formed in shell construction.6. The wave energy converter according to claim 5 , wherein the at least one component formed in shell construction includes at least one of (i) a shell formed from at least one of a composite material and a textile material and (ii ...

Hydraulically controlled actuator for actuating a valve

Disclosed is a hydraulically controlled actuator (16) for actuating a valve (10), especially a gas exchange valve (10) in a combustion cylinder (11) of an internal combustion engine, which has two fluid-filled pressure chambers (21, 22) with controllable chamber volumes and a sealable adjusting piston (18) defining the pressure chambers (21, 22) by means of opposing piston sides and acting upon the valve (10), provided with a closing active surface impinged upon by the pressure of the fluid in the pressure chambers (21, 22) in order to close said valve (10), in addition to an opening active surface which is impinged upon by fluid pressure so that the valve (10) can be opened. In order to influence the kinematics of the opening and closing movements of the valve (10), the adjusting piston (18) is embodied in such a way that the surface area of at least one of the two active surfaces can be modified along the displacement path of the adjusting piston (18).

Method and device for controlling an operation of an internal combustion engine

The invention relates to a control arrangement and to a control method for an internal combustion engine that is operated with a cylinder with an inlet and an outlet valve with fully variable valve drive. The control arrangement according to the invention is characterized in that an engine control device determines desired values with regard to a fresh gas filling, an internal residual gas filling, a momentary reduction, an AGR control strategy and a filling strategy. The device is further provided with a transmission device that transmits the desire values acquired by means of the engine control device to a valve control device in a crank angle synchronous manner. The valve control device controls the fully variable valve drive of the inlet and the outlet valve of the cylinder of the internal combustion engine on the basis of the desired values determined by the engine control device.

Pump for supplying a fuel injection system and a hydraulic valve control for internal combustion engines

Pumpe (1) zur Versorgung eines Kraftstoffeinspritzsystems und einer hydraulischen Ventilsteuerung für Brennkraftmaschinen mit einer ersten Niederdruckseite (11), mit einer ersten Hochdruckseite (13) und mit Mitteln (3) zum Fördern von Kraftstoff von der ersten Niederdruckseite (11) zur ersten Hochdruckseite (13), dadurch gekennzeichnet, dass die eine Pumpe (1) eine zweite Niederdruckseite (23), eine zweite Hochdruckseite (25) und zweite Mittel (5) zum Fördern eines Fluids von der zweitem Niederdruckseite (23) zur zweiten Hochdruckseite (25) aufweist, und dass die eine Pumpe (1) eine die Mittel (3) zum Fördern von Kraftstoff und die Mittel (5) zum Fördern eines Fluids mindestens mittelbar betätigende gemeinsame Antriebswelle (19)

Device for controlling a gas shuttle valve for internal combustion engines

Method and device for controlling the operation of an internal combustion engine

The invention relates to a control arrangement and to a control method for an internal combustion engine that is operated with a cylinder with an inlet and an outlet valve with fully variable valve drive. The control arrangement according to the invention is characterized in that an engine control device determines desired values with regard to a fresh gas filling, an internal residual gas filling, a momentary reduction, an AGR control strategy and a filling strategy. The device is further provided with a transmission device that transmits the desire values acquired by means of the engine control device to a valve control device in a crank angle synchronous manner. The valve control device controls the fully variable valve drive of the inlet and the outlet valve of the cylinder of the internal combustion engine on the basis of the desired values determined by the engine control device.

PUMP FOR SUPPLYING A FUEL INJECTION SYSTEM AND A HYDRAULIC VALVE CONTROL OF AN INTERNAL COMBUSTION ENGINE

Cylinder-charge control method in an internal combustion engine

Das Verfahren zur Füllungssteuerung besteht darin, dass durch Steuerung der Schliesszeitpunkte (AS) mindestens eines Auslassventils des jeweiligen Zylinders und durch Öffnen (EÖ1) mindestens eines Einlassventils im Bereich des oberen Totpunktes (OT) des Kolbens eine interne Restgasrückführung im Zylinder mit zeitweiligem Ausschieben von Restgas vor das mindestens eine Einlassventil veranlasst wird, und dass innerhalb eines Ladungswechsels im Zylinder in mindestens zwei zeitlich voneinander getrennten Phasen (EÖ1, ES1, EÖ2, ES2) mindestens ein Einlassventil geöffnet wird. Dieses Verfahren optimiert den Betrieb des Motors in der Warmlaufphase unter den Gesichtspunkten des Verbrauchs, der Schadstoffemission und der Laufruhe.

Connection between a shaft end of a gas exchange valve of an internal combustion engine and a final control element of a valve actuator

A connection between a shaft end of a gas exchange valve of an internal combustion engine and a final control element of a valve actuator, with at least two shell-shaped wedge-shaped pieces, surrounding the shaft end and braced on the final control element, whose radially outer circumferential surface extends conically and which are surrounded by at least one conical clamping sleeve whose radially inner circumferential surface extends complimentary to the cone angle of the wedge-shaped pieces, wherein on the radially inner circumferential surface of the wedge-shaped pieces and on the radially outer circumferential surface of the shaft end of the gas exchange valve, protrusions and recesses that mesh with one another are provided. To enable rotary motions of the shaft end relative to the wedge-shaped pieces, the latter adjoin one another without gaps in the circumferential direction, forming an encompassing wedge-shaped sleeve, whose inside diameter is slightly larger than the outside diameter of the shaft end of the gas exchange valve, and that the protrusions and recesses mesh with one another with slight play.

Cylinder piston engine

Die Erfindung betrifft einen Zylinder-Kolbentrieb, insbesondere einen hydraulisch gesteuerten Aktuator (1) zur Betätigung eines Gaswechselventils (2) einer Brennkraftmaschine, beinhaltend einen innerhalb eines Zylinders (6) verschieblichen Stellkolben (8), der mit voneinander abgewandten Kolbenseiten (14, 16) Druckkammern (10, 12) begrenzt, wobei der Stellkolben (8) mehrteilig ist und aus wenigstens zwei ineinander gesetzten und relativ zueinander verschiebbaren, an Anschlagflächen (36, 38) gegeneinander anschlagbaren Teilkolben (18, 20) besteht, wobei eine Druckkammer (10) von allen und die andere Druckkammer (12) nur von einem Teil der Teilkolben (20) begrenzt und die Verschiebewege der nicht die andere Druckkammer (12) begrenzenden Teilkolben (18) gegenüber dem Gesamtverschiebeweg des Stellkolbens (8) reduziert und wenigstens eine am Zylinder (6) angeordnete Anschlagfläche (36) vorgesehen ist, an welcher eine Anschlagfläche (38) von einem der Teilkolben (18) nach Zurücklegen des reduzierten Verschiebeweges anschlägt. DOLLAR A Die Erfindung sieht vor, daß zumindest einige der einander zugeordneten Anschlagflächen als im Anschlagfall jeweils einen Kegelsitz bildende Kegelflächen (36, 38) ausgebildet sind. Hierdurch wird der Leckagevolumenstrom durch den Stellkolben reduziert. The invention relates to a cylinder piston drive, in particular a hydraulically controlled actuator (1) for actuating a gas exchange valve (2) of an internal combustion engine, comprising an actuating piston (8) which can be displaced within a cylinder (6) and which has piston sides (14, 16) facing away from one another. Pressure chambers (10, 12) limited, the actuating piston (8) consisting of several parts and consisting of at least two partial pistons (18, 20) which are set one inside the other and can be displaced relative to one another and can be abutted against stop surfaces (36, 38), a pressure chamber (10) limited by all and the other pressure chamber (12) only by a part of the ...

METHOD AND DEVICE FOR CONTROLLING A GAS FILLING OF THE CYLINDERS OF AN INTERNAL COMBUSTION ENGINE

Procédé et dispositif de commande d'un remplissage de gaz de plusieurs cylindres d'un moteur à combustion interne â commande variable des soupapes. Selon ces moyens, on détermine un signal de saisie d'un capteur de remplissage à l'aide d'une fréquence de détection. On détermine un intervalle de saisie pour un cylindre et dans cet intervalle on additionne les valeurs de détection pour déterminer une somme de valeurs de détection. On compte le nombre de valeurs de détection situées dans le premier intervalle de saisie pour déterminer un premier intervalle de comptage. La masse d'air chargée dans le premier cylindre donne alors une moyenne en formant le quotient de la somme des valeurs de détection par l'état de comptage. Method and device for controlling gas filling of several cylinders of an internal combustion engine with variable valve control. According to these means, an input signal of a filling sensor is determined using a detection frequency. An input interval is determined for a cylinder and within this interval the detection values are added to determine a sum of detection values. The number of detection values in the first capture interval is counted to determine a first count interval. The mass of air charged in the first cylinder then gives an average by forming the quotient of the sum of the detection values by the count state.

Cylinder piston drive

The invention relates to a cylinder piston drive, particularly a hydraulically controlled actuator (1) actuating a gas exchange valve (2) of a combustion engine, comprising a control piston (8) which moves inside the cylinder (6) and delimits pressure chambers (10, 12) along with opposite ends (14, 16) of the piston. Said control piston (8) has several parts and comprises at least two partial pistons (18, 20), which are inserted into one another, are movable relative to each, and knock against each other at stop faces (36, 38). One pressure chamber (10) is delimited by all partial pistons (20), whereas the other pressure chamber (12) is delimited only by one part thereof. The displacement paths of the partial pistons (18) which do not delimit the other pressure chamber (12) are reduced compared with the total displacement path of the control piston (8). At least one stop face (36) is disposed on the cylinder (6), which a stop face (38) of one of the partial pistons (18) hits after completing the reduced displacement path. At least some of the stop faces that are assigned to each other are configured as conical surfaces (36, 38) which form a conical seat when knocking against each other, whereby the leakage volume flow is reduced by the control piston.

Valve drive for internal combustion engine has common actuator cylinder for inlet and exhaust valves

The valve drive for a motor vehicle internal combustion engine has a pair of valves (121) connected to a common actuating cylinder (14) by a linkage (18) connected to the shaft (33). The cylinder coupling linkage (18) synchronizes operation of the valves to which it is connected by flexible couplings (38,39) with pivot bearings.

Gas exchange valve mechanism for an internal combustion engine

The invention relates to a gas exchange valve mechanism (10) for an internal combustion engine (14), especially the internal combustion engine of a motor vehicle, which comprises a hydraulic device (15). Said hydraulic device comprises a fluid cycle (38, 42, 46, 54), a pressure accumulator (62, 72) which is connected to the fluid cycle (38, 42, 46, 54) and which has a piston (66, 76) prestressed by a mechanism (68, 84), and a controlled actuator (16). The inventive mechanism further comprises a gas exchange valve (12) whose valve element (26) is impinged upon by the actuator (16). The aim of the invention is to simplify the design of the gas exchange valve mechanism (10). To this end, the pressure accumulator (72) is mounted in such a manner that its piston (76), in a substantially pressureless state of the pressure accumulator (72), at least indirectly blocks the valve element (26) of the gas exchange valve (12) in a substantially closed position.

Procedure for charge control of internal combustion engine entails opening of at least one inlet valve inside load change in cylinder in at least two phases separated in time from each other

The procedure for charge control of an internal combustion engine entails the opening of at least one inlet valve(EV) inside a load change in the cylinder in at least two phases separated in time from each other. The first phase of the inlet valve opening commences in the region of the top dead center(OT) point and the second phase commences after it. All the exhaust valves(AV) are closed before the commencement of the first phase of the inlet valve, or are closed before the end of the first phase but before the upper dead center point.

SOLUBLE CONNECTION FOR COUPLING A GAS CHANGING VALVE OF AN INTERNAL COMBUSTION ENGINE WITH AN ACTUATOR

Control device for IC engine gas changing valves has common electrically-operated control valves associated with each pair of hydraulic valve setting devices for respective gas changing valves

The control device uses hydraulic valve setting devices (11) for respective gas changing valves, each having a setting piston (13), a working space (121) for movement of the gas changing valve in the closure direction filled with a pressurized fluid and a working space (122) for movement of the gas changing valve in the opening direction selectively filled with a pressurized fluid and vented via electrically-operated control valves (24,25; 26,27). Each pair of valve setting devices are associated with the same control valves.

PROCEDURE AND DEVICE FOR THE OPERATION OF AN INTERNAL COMBUSTION ENGINE

METHOD AND DEVICE FOR OPERATING AN INTERNAL COMBUSTION ENGINE HAVING MULTIPLE CYLINDERS WITH MULTIPLE VALVES AND AT LEAST ONE TOTAL-VARIABLE CONTROL VALVE

Procédé et dispositif pour faire fonctionner un moteur à combustion interne à plusieurs cylindres en déterminant si le couple fourni par le moteur est supérieur à un seuil de couple. Si le couple est inférieur au seuil, tous les cylindres du moteur fonctionnent en mode maigre. SI le couple est supérieur ou égal au seuil de couple, on fait fonctionner un premier nombre de cylindres du moteur en mode homogène et les autres cylindres en mode maigre. A method and apparatus for operating a multi-cylinder internal combustion engine by determining whether the torque supplied by the engine is greater than a torque threshold. If the torque is below the threshold, all the engine cylinders operate in lean mode. If the torque is greater than or equal to the torque threshold, a first number of engine cylinders are operated in homogeneous mode and the other cylinders in lean mode.

Pump for supplying a fuel injection system and for supplying a hydraulic valve controller for internal combustion engines

A fuel injection pump for internal combustion engines having at least one additional pump element for feeding fluid from a low-pressure side to a high-pressure side. With this fluid, a hydraulic valve controller of the engine can be driven.

Cylinder head

Disclosed is a cylinder head (10) for the combustion cylinder of a combustion engine, comprising at least one inlet and one outlet and charge exchange valves (11) which are actuated by electrohydraulic valve actuators (15) and control the at least one intake as intake valves (111) and the at least one outlet as exhaust valves (112). In order to preproduce a compact complete module which can be tested for operability and can be mounted in the engine block without requiring any premounting, the cylinder head (10) is provided with means for fixing the valve actuators (15) and at least one high-pressure rail (37) feeding a pressurized fluid and at least one return rail recycling a fluid. Said rails are provided with coupling openings (39, 40) hydraulically coupling the valve actuators (15).

Internal combustion engine

An internal combustion engine having at least one combustion cylinder that includes a combustion chamber provided with gas-exchange valves, and an electrohydraulic valve control device having valve actuators that actuate the gas-exchange valves. To reduce manufacturing costs and/or the installation space required for the electrohydraulic valve control device, at least two synchronously controlled gas-exchange valves are connected using a coupling element to a common valve actuator, and the connection sites of the gas-exchange valves are flexibly formed on the coupling element.

Systems and methods for autonomous self-calibrating surgical robot

Systems and methods for autonomous robotic surgery are provided to control a movement of a robotic device so as to perform a surgical procedural step, wherein controlling of the movement is based on information including a spatial position and orientation of at least a part of the robotic device. A trigger information may cause the system to pause or stop the surgical procedural step and cause the system to receive a projection image. Further, the projection image may be processed so as to determine a spatial position and orientation of at least the part of the object or of the robotic device.

Device for rapidly building-up pressure in a device of a motor vehicle, said device being supplied with a pressure medium by means of a feed pump

Described is an apparatus for rapid pressure buildup in a motor vehicle reservoir-type injection system (common rail) supplied with fuel by a high-pressure pump, the apparatus including a piston, which defines a pressure chamber that can be enlarged counter to the force of a spring element prestressed counter to the piston, which pressure chamber communicates with the feed pump and with the device supplied with the pressure medium. A locking device acting on the piston is provided, by which the piston can be locked in a locking position, assumed as a result of the pressure, built up in the pressure chamber by the feed pump, counter to the prestressing of the spring element and can be untensed after unlocking into a position that reduces the size of the pressure chamber. By the relaxation of the spring, the system pressure is built up suddenly.

Hydraulically controlled actuator for actuating a gas exchange valve on the exhaust side of an internal combustion engine

Die Erfindung betrifft einen hydraulisch gesteuerten Aktuator zur Betä­tigung eines auslassseitigen Gaswechselventils einer Brennkraftmaschine, beinhaltend einen innerhalb eines Zylinders verschieblichen Stellkolben, der mit voneinander abgewandten Kolbenseiten Druckkammm begrenzt, von denen die eine Druckkammer das Gaswechselventil in Schliessrichtung und die andere Druckkammer das Gaswechselventil in Öffnungsrichtung beauf­schlagt. Die Erfindung sieht vor, dass wenigstens ein Federelement (14) vorge­sehen ist, welches durch den sich in Schliessrichtung des Gaswechselventils (2) bewegenden Stellkolben (8) in Vorspannung bringbar ist und dessen ge­speicherte potentielle Energie zumindest zu Beginn einer Öffnungsphase das Gaswechselventil (2) in Öffnungsrichtung beschleunigt. Hierdurch kommt es zu einer Einsparung der bei der Ventilbetätigung aufgewendeten Energie.

Device for controlling a gas shuttle valve for internal combustion engines

A device for controlling a gas shuttle valve for internal combustion engines, comprising an axially displaceable valve member (5) with a sealing surface (7) that enables it to co-operate with a valve seat (8) fixed to the housing. The valve member has a piston (9) on the end that is far from the combustion chamber. Two hydraulic working areas are axially separated by the piston. A lower working area (11) close to the combustion chamber acts upon the valve member (5) in the direction of closing and an upper working area far from combustion chamber (15) acts upon it in the direction of opening. The lower working area (11) is permanently connected to a high pressure source and the upper working area can be alternately filled with high pressure and discharged by means of a high pressure feed line (23) containing an electric control valve (27) and a discharge line (33) containing an electric control valve (27). The electric control valve (35) closes the high pressure feed line (23) into the upper working area (15) at zero current, while the control valve (35) in the discharge line (33) is opened at zero current.

Cylinder-charge control method in an internal combustion engine

The method for cylinder-charge control consists in implementing an internal recirculation of residual gas in the cylinder, through controlling the closing times (AS) of at least one exhaust valve of the respective cylinder and by opening (EÖ1) at least one intake valve in the vicinity of top dead center (OT) of the piston, along with intermittent discharge of residual gas in front of the at least one intake valve, and that within one charge-exchange process in the cylinder, in at least two phases (EÖ1, ES1, EÖ2, ES2) that are offset in time from one another, at least one intake valve is opened. This method optimizes the engine operation in the warm-up phase from the standpoint of consumption, pollutant emission and running smoothness.

METHOD AND DEVICE FOR OPERATING AN INTERNAL COMBUSTION ENGINE HAVING MULTIPLE CYLINDERS WITH MULTIPLE VALVES AND AT LEAST ONE TOTAL-VARIABLE CONTROL VALVE

Method for operating an electro-hydraulic valve control of an internal combustion engine, computer program and control and regulating device for operating an internal combustion engine

Eine elektrohydraulische Ventilsteuerung (10) einer Brennkraftmaschine umfasst mindestens einen auf ein Gaswechselventil (38) arbeitenden Aktuator (24). Dieser verfügt wiederum mindestens über einen Arbeitsraum (30), der zur Betätigung des Aktuators (24) aus einer ersten Stellung in eine zweite Stellung mit einem Hochdruck-Hydraulikspeicher (16) verbunden und von einem Niederdruck-Rücklauf (56) getrennt wird. Zur Betätigung des Aktuators (24) aus der zweiten in die erste Stellung zurück, wird der Arbeitsraum (30) mit dem Niederdruck-Rücklauf (56) verbunden und von dem Hochdruck-Hydraulikspeicher (16) getrennt. Eine einfache Druckkonstanthaltung oder Druckabsenkung im Hochdruck-Hydraulikspeicher (16) wird dadurch bewirkt, dass der Arbeitsraum (30) gleichzeitig mit dem Hochdruck-Hydraulikspeicher (16) und dem Niederdruck-Rücklauf (56) verbunden wird.

Feed pump, for fuel injection and hydraulic valve control systems, has primary and secondary pump elements with associated low and high pressure zones

The fuel pump consists of a primary low pressure side (11) and a primary high pressure side (13) and additionally the means (3) to transfer the fuel from the primary low pressure side to the primary high pressure side. The system is characterized by the secondary low pressure side (23), the secondary high pressure side (25) and the means (5) to transfer the fluid from the secondary low pressure side to the secondary high pressure side.

Domestic appliance for treating laundry items, comprising an imbalance compensation device secured by radially elastic clips

DEVICE FOR CONTROLLING GAS CHANGING VALVES

Hydraulically controlled actuator for activating a valve

An hydraulically controlled actuator for activating a valve, especially for activating a gas-exchange valve in a combustion cylinder of an internal combustion engine, which includes two fluid-filled pressure chambers having controllable chamber volumes and a movable operating piston which delimits the pressure chambers by piston sides facing away from one another, the operating piston acting upon the valve and having an effective closing area acted upon by fluid pressure in the pressure chambers to close the valve and an effective opening area acted upon by the fluid pressure to open the valve. To influence the kinematics of the opening and closing movement of the valve, the operating piston is such that the surface area of at least one of the two effective areas changes along the sliding path of the operating piston.

Method and device for determining injection valve time specifications and filling specifications in an internal combustion engine

The invention relates to a method for determining injection valve time specifications and filling specifications in an internal combustion engine, said engine having a multitude of cylinders with a variable valve gear each provided with an intake pipe, at a specified change in torque. The method provides that, when determining a positive specified change in torque at a synchronization time, it is detected whether an injection process in a cylinder of the internal combustion engine is active and when this is the case, a basic injection time of this injection process is prolonged by a first length of time. According to the realizable fuel dynamics, the filling dynamics for a control device with completely variable valve control can be limited whereby enabling the desired air-fuel ratio to be readjusted at any time.

Method for operating an electrohydraulic valve control system of an internal combustion engine, computer program, and control, and regulating unit for operating an internal combustion engine

An electrohydraulic valve control ( 10 ) of an internal combustion engine includes at least one actuator ( 24 ) that acts on a gas exchange valve ( 38 ). This actuator ( 24 ) in turn has at least one working chamber ( 30 ), which in order to switch the actuator ( 24 ) from a first position into a second position, is connected to a high-pressure hydraulic accumulator ( 16 ) and shut off from a low-pressure return ( 56 ). In order to switch the actuator ( 24 ) from the second position back into the first position, the working chamber ( 30 ) is connected to the low-pressure return ( 56 ) and shut off from the high-pressure hydraulic accumulator ( 16 ). The pressure in the high-pressure hydraulic accumulator ( 16 ) is kept constant or reduced in a simple manner by virtue of the working chamber ( 30 ) being connected to the high-pressure hydraulic accumulator ( 16 ) and the low-pressure return ( 56 ) at the same time.

Hydraulic actuator for a gas exchange valve

A hydraulic actuator for gas exchange valves of internal combustion engines is disclosed, in which the lifting of the gas exchange valve from the valve seat is effected with great force. The opening motion of the gas exchange valve then ensues at reduced force. Upon closure of the gas exchange valve, the gas exchange valve is braked before striking the valve seat, so that operation of the gas exchange valve with little wear and little noise can be achieved.

Domestic appliance for the care of laundry items, comprising an imbalance correcting device fastened by brackets

The invention relates to a domestic appliance (1) for the care of laundry items, comprising a housing (2), in which an inner tub (3) is rotatably supported, and at least one annular imbalance correcting device (13, 14), which is arranged on the inner tub (3), said imbalance correcting device (13, 14) being fastened to the inner tub (3) by means of at least one bracket (25, 26).

Electrohydraulic actuator

An electrohydraulic actuator is provided, which comprises a working cylinder (22), having a piston (23) comprising a first and second piston surface (231, 232) displaceable in said working cylinder and two working chambers (24, 25) designed in the working cylinder (22) and bounded by the piston (23), as well as electric control valves. Of the two working chambers (24, 25), a first working chamber (24) that is permanently subject to high pressure is bounded by the first piston surface (231) and a second working chamber (25) is bounded by the larger second piston surface (232). The control valves alternately establish a connection of the second working chamber (25) to high pressure and low pressure. In order to achieve comprehensive options for controlling the piston (23) over the stroke path thereof, at least one of the connections of the second working chamber (25) to high and low pressure is established with a plurality of control valves, wherein both a plurality of high pressure control valves (30, 31) can establish the connection to high pressure and a plurality of low pressure control valves (32, 33) can establish the connection to low pressure.

Method for operating an electrohydraulic valve control system of an internal combustion engine, computer program and control and regulating device for operating an internal combustion engine

The invention relates to an electrohydraulic valve control system (10) of an internal combustion engine, comprising at least one actuator (24) which acts on a gas exchange valve (38). Said actuator, in turn, comprises at least one working chamber (30) which is connected to a high-pressure hydraulic accumulator (16) for actuating the actuator (24) in such a way that it moves from a first position to a second position, and which is separated from a low-pressure return line (56). In order to actuate the actuator (24) in such a way that it moves back from the second position into the first position, the working chamber (30) is connected to the low-pressure return line (56) and is separated from the high-pressure hydraulic accumulator (16). In order to easily maintain the pressure constant or to cause a pressure drop in the high-pressure hydraulic accumulator (16), the working chamber (30) is simultaneously connected to the high-pressure hydraulic accumulator (16) and to the low-pressure return line (56).

Method for detecting the angular position of rotating machine parts

Verfahren zur Erfassung der Winkellage eines rotierenden Geberrades (15), beispielsweise in einer Verbrennungskraftmaschine, wobei dem Geberrad (15) Geber (16, 17) zugeordnet sind, deren Signale an ein Steuergerät (13) übertragen werden, die Position des Geberrades (15) gleichzeitig mittels eines Inkrementalgebers (16) und mittels eines Absolutwinkelgebers (17) erfasst wird, wobei das Inkrementsignal (18) des Inkrementalgebers (16) und das Absolutsignal (19) des Absolutwinkelgebers (17) im Steuergerät (13) als verzweigtes Inkrementsignal (20) und als verzweigtes Absolutsignal (21) sowohl einer Recheneinheit (22) als auch einem Überwachungsmodul (23) zugeführt werden und im Steuergerät (13) durch redundante Auswertung der Inkrementsignale (18, 20) einerseits, sowie der Absolutsignale (19, 21) andererseits eine gegenseitige Plausibilitätsüberprüfung der Winkelinformation erfolgt, dadurch gekennzeichnet, dass durch einen hochdynamischen Inkrementalgeber (16) beim Abtasten von Zahnflanken des Geberrades (15) eine stets aktuelle Winkelinformation über das Geberrad (15) zur Verfügung gestellt wird, wobei zur Verfeinerung der Winkelbereiche von 6° pro Flankenimpuls dem Steuergerät (13) ein Controller zugeordnet...

Connection between a stem end on a gas exchange valve in an internal combustion engine and a sleeve-like actuator body of a valve actuator

The present invention relates to a connection ( 24 ) between a shaft end ( 20 ) of a gas exchange valve ( 1 ) of an internal combustion engine and a sleeve-shaped actuating element ( 2 ) of a valve actuator ( 4 ), which is guided in an axially movable manner within a pressure region ( 58 ), which is able to be pressurized with a pressure medium, of the valve actuator ( 4 ) and at least partially surrounds the shaft end ( 20 ). The present invention provides for the connection ( 24 ) to be situated outside of the pressure region ( 58 ) and in the region of an opening ( 16 ), which is formed on the side of the valve actuator ( 4 ) away from the combustion chamber, and is preferably coaxial to shaft end ( 20 ).

Connection between a stem end on a gas exchange valve in an internal combustion engine and a sleeve-like actuator body of a valve actuator

The present invention relates to a connection between a shaft end of a gas exchange valve of an internal combustion engine and a sleeve-shaped actuating element of a valve actuator, which is guided in an axially movable manner within a pressure region, which is able to be pressurized with a pressure medium, of the valve actuator and at least partially surrounds the shaft end. The present invention provides for the connection to be situated outside of the pressure region and in the region of an opening, which is formed on the side of the valve actuator away from the combustion chamber, and is, for example, coaxial to the shaft end.

Verbindung zwischen zwei koaxial hintereinander angeordneten schaftenden eines gaswechselventils einer brennkraftmaschine und eines ventilstellers

Die Erfindung betrifft eine Verbindung zwischen zwei koaxial hintereinander angeordneten Schaftenden (8, 10) eines Gaswechselventils (1) einer Brennkraftmaschine und einer Kolbenstange (2) eines Ventilstellers (4), mit wenigstens einem die Schaftenden (8, 10) zumindest teilweise umschließenden Kupplungskörper (14). Die Erfindung sieht vor, daß zur Erzeugung eines die Stellbewegung des Ventilstellers (4) auf das Gaswechselventil (1) schlupflos übertragenden Haftreibschlusses zwischen je einem Schaftende (8, 10) und dem Kupplungskörper (14) letzterer durch die Wirkung wenigstens eines Spannkörpers (34, 36) radial gegen die beiden Schaftenden (8, 10) gespannt ist. Hierdurch kann einerseits die Dauerfestigkeit der Verbindung erhöht und andererseits deren Montage und Demontage vereinfacht werden.

Verbindung zwischen einem schaftende eines gaswechselventils einer brennkraftmaschine und einem hülsenförmigen stellglied eines ventilstellers

Die Erfindung betrifft eine Verbindung (24) zwischen einem Schaftende (20) eines Gaswechselventils (1) einer Brennkraftmaschine und einem hülsenförmigen Stellglied (2) eines Ventilstellers (4), das innerhalb eines mit Druckmittel beaufschlagbaren Druckbereichs (58) des Ventilstellers (4) axial beweglich geführt ist und welches das Schaftende (20) wenigstens teilweise umschließt. Die Erfindung sieht vor, daß die Verbindung (24) außerhalb des Druckbereichs (58) und im Bereich einer an der brennraumfernen Seite des Ventilstellers (4) ausgebildeten, vorzugsweise mit dem Schaftende (20) koaxialen Öffnung (16) angeordnet ist.

Ventilsteuerungsvorrichtung für eine brennkraftmaschine

Ventilsteuerungsvorrichtung für eine Brennkraftmaschine mit einem Gaswechselventil (1) zur Steuerung eines Einlaß- und/oder Auslaßquerschnittes (13) am Brennraum der Brennkraftmaschine, das ein axial verschiebbares Gaswechselventilglied (3) aufweist, dessen Ventilgliedschaft (15) über eine Kolbenstange (16) mit einem hydraulisch betätigbaren Differentialkolben (18) gekoppelt ist. Dabei ist der Differentialkolben (18) zweiteilig ausgebildet, wobei die Kolbenteile derart zueinander angeordnet sind, daß sie in Achsrichtung miteinander wirkverbunden sind und eine radiale Relativbewegung zueinander ausführen können.

Ventilsteuerungsvorrichtung für eine brennkraftmaschine

Procedimento e dispositivo atti all'esercizio di un motore a combustione interna

Układ z bębnem pralniczym i z urządzeniem do kompensacji niewyważenia, urządzenie gospodarstwa domowego do pielęgnowania artykułów pralniczych i sposób mocowania urządzenia do kompensacji niewyważenia

Method and circuit arrangement for operating a solenoid valve

Systems and methods for registration of coordinate systems based on 2d x-ray imaging and augmented reality device

Systems and methods are provided for assisting in a musculoskeletal procedure. In general, a first X-ray image is received showing a first object, the first X-ray image being generated by an imaging device. An imaging direction of the first X-ray image is determined based on a 3D representation of the first object, the imaging direction of the first X-ray image being associated with a coordinate system of the first X-ray image. Then, information of the pose of the imaging device is received at which pose the first X-ray image has been generated, wherein the information includes a geometrical aspect of the imaging device and is provided by an augmented-reality device associated with a global coordinate system. Further, a position and orientation of the first object relative to the global coordinate system is determined based on a registration of the coordinate system of the first X-ray image with the global coordinate system.

Systems and methods for registration of coordinate systems based on 2d x-ray imaging and augmented reality device

Systems and methods are provided for assisting in a musculoskeletal procedure. In general, a first X-ray image is received showing a first object, the first X-ray image being generated by an imaging device. An imaging direction of the first X-ray image is determined based on a 3D representation of the first object, the imaging direction of the first X-ray image being associated with a coordinate system of the first X-ray image. Then, information of the pose of the imaging device is received at which pose the first X-ray image has been generated, wherein the information includes a geometrical aspect of the imaging device and is provided by an augmented-reality device associated with a global coordinate system. Further, a position and orientation of the first object relative to the global coordinate system is determined based on a registration of the coordinate system of the first X-ray image with the global coordinate system.

Systems and methods for autonomous self-calibrating surgical robot

Systems and methods for autonomous robotic surgery are provided to control a movement of a robotic device so as to perform a surgical procedural step, wherein controlling of the movement is based on information including a spatial position and orientation of at least a part of the robotic device. A trigger information may cause the system to pause or stop the surgical procedural step and cause the system to receive a projection image. Further, the projection image may be processed so as to determine a spatial position and orientation of at least the part of the object or of the robotic device.

Verfahren und vorrichtung zur steuerung der ffnung eines ei nlassventils einer brennkraftmaschine

Verfahren zur Steuerung der Öffnung wenigstens eines Einlassventils eines Brennraums einer periodisch arbeitenden Kolbenbrennkraftmaschine, wobei wenigstens ein Einlassventil des Brennraums während einer ersten Teilperiode einer Arbeitsperiode der Kolbenbrennkraftmaschine zur Füllung des Brennraums geöffnet wird und wobei wenigstens ein Einlassventil des Brennraums während einer zweiten Teilperiode der Arbeitsperiode geöffnet wird, dadurch gekennzeichnet, dass die zweite Teilperiode nach der Verbrennung der Brennraumfüllung beginnt und keine Überschneidung mit der ersten Teilperiode aufweist.

Verfahren und vorrichtung zur steuerung der öffnung eines ei nlassventils einer brennkraftmaschine

Verfahren und vorrichtung zur steuerung der öffnung eines ei nlassventils einer brennkraftmaschine

Verfahren zur Steuerung der Öffnung wenigstens eines Einlassventils eines Brennraums einer periodisch arbeitenden Kolbenbrennkraftmaschine, wobei wenigstens ein Einlassventil des Brennraums während einer ersten Teilperiode einer Arbeitsperiode der Kolbenbrennkraftmaschine zur Füllung des Brennraums geöffnet wird und wobei wenigstens ein Einlassventil des Brennraums während einer zweiten Teilperiode der Arbeitsperiode geöffnet wird, dadurch gekennzeichnet, dass die zweite Teilperiode nach der Verbrennung der Brennraumfüllung beginnt und keine Überschneidung mit der ersten Teilperiode aufweist.

Anordnung mit einer wäschetrommel und einer unwuchtausgleichsvorrichtung, haushaltsgerät zur pflege von wäschestücken und verfahren zum befestigen einer unwuchtausgleichsvorrichtung

Die Erfindung betrifft eine Anordnung für ein Haushaltsgerät 1 zur Pflege von Wäschestücken, mit zumindest einer Wäschetrommel 3 zur Aufnahme von Wäschestücken, und mit zumindest einer ringförmigen Unwuchtausgleichsvorrichtung 13, 14, welche in eine umlaufende Aufnahme 39 der Wäschetrommel 3 eingesetzt ist, wobei die Wäschetrommel 3 einen Koppelbereich 24 zum Koppeln mit der Unwuchtausgleichsvorrichtung 13, 14aufweist, welcher zwei in einem Winkel zueinander stehende Anlagewände 28, 29 aufweist, und die Unwuchtausgleichsvorrichtung 13, 14 ein Gehäuse 18 mit einer ersten Gehäusewand 18a aufweist, an welcher zumindest ein in radialer Richtung erhaben über die erste Gehäusewand 18a überstehendes Koppelelement 30 ausgebildet ist, welches zwei in einem Winkelβ zueinander orientierte Koppelstege 32, 33 aufweist, wobei jeweils ein Koppelsteg 32, 33 an jeweils einer Anlagewand 28, 29 anliegt.

Near-real-time continual 3d registration of objects in 2d x-ray images

Systems and methods are provided for a continual automatic registration of bone or bone-fragments, instruments, and implants based on only one additional X-ray without the need of changing the position of the X-ray source. A two-dimensional X-ray image is received, which X-ray image shows a surgical region of interest. Artificial intelligence assisted automatic detection and localization of objects such as bone or bone-fragments, tools (e.g., a drill) and/or implants combined with a priori information about the surgical procedure are used to compute their relative three-dimensional positions and orientations at any desired point in time. This registration of the objects can be repeated multiple times and can thus provide guidance in near real time.

Verfahren und schaltungsanordnung zum betrieb eines magnetventils

Die Erfindung betrifft ein Verfahren und eine Schaltanordnung zum Betrieb eines Magnetventils (MV), insbesondere zur Betätigung einer elektrohydraulischen Gaswechsel-Ventilsteuerung, eines Einspritzventils oder eines Einlass- oder Auslassventils einer Brennkraftmaschine. Um eine möglichst einfache Ansteuerung des Magnetventils (MV) zu ermöglichen, wird vorgeschlagen, dass das Magnetventil (MV) in einem drei Phasen umfassenden Zyklus gesteuert beaufschlagt wird, wobei das Magnetventil (MV) in einer Anzugsphase zur Erzeugung eines Anzugsstroms für eine vorgegebene Zeitdauer (T_1) an eine erste Spannung (U_1) vorgegebener Höhe angeschlossen wird, in einer Haltephase zur Erzeugung eines Haltestroms an eine zweite Spannung (U_2) vorgegebener Höhe angeschlossen wird und in einer Abschaltphase von beiden Spannungen (U_1, U_2) getrennt wird.

Procedimiento y dispositivo para la variacion rapida de un momento de rotacion de un motor de combustion interna.

La presente invención se refiere a un procedimiento y a un dispositivo para la variación de un momento de rotación de un motor de combustión interna, con por lo menos un primer cilindro con una válvula de escape con un mando de accionamiento variable de la válvula, en el que se determina si existe necesidad de variar el momento de rotación dentro de un primer ciclo de trabajo del primer cilindro y se modifica la señal de activación básica de la válvula de escape del primer cilindro en el primer ciclo de trabajo, cuando se determina que es necesario variar el momento de rotación durante el primer ciclo de trabajo.

Hydraulischer aktor für ein gaswechselventil

Es wird ein hydraulischer Aktor für Gaswechselventile von Brennkraftmaschinen vorgeschlagen, bei welchem das Abheben des Gaswechselventils von dem Ventilsitz mit einer grossen Kraft erfolgt. Anschliessend erfolgt die Öffnungsbewegung des Gaswechselventils mit reduzierter Kraft. Beim Schliessen des Gaswechselventils wird das Gaswechselventil vor dem Auftreffen auf dem Ventilsitz abgebremst, so dass sich ein verschleissarmer und geräuscharmer Betrieb des Gaswechselventils realisieren lässt.

Hydraulischer aktor für ein gaswechselventil

Dispositivo per comandare valvole a cambio di gas in un motoreendotermico.

Verfahren und vorrichtung zur ermittlung von einspritzventilzeitgaben und füllungsvorgaben bei einer brennkraftmaschine

Verfahren und vorrichtung zur ermittlung von einspritzventilzeitgaben und füllungsvorgaben bei einer brennkraftmaschine

Die vorliegende Erfindung betrifft ein Verfahren zur Ermittlung von Einspritzventilzeitgaben und Füllungsvorgaben bei einer Brennkraftmaschine mit einer Veilzahl von Zylindern mit variablem Ventiltrieb mit jeweils einem Saugroht bei einem Soo-Drehmomentsprung, in dem beim Bestimmen eines positiven SollDrehmomentsprungs an einem Synchronisationszeitpunkt erfasst wird, ob ein Einspritzvorgang bei einem Zylinder der Brennkraftmaschine aktiv ist, eine Grundeinspritzzeit dieses Einspritzvorgangs um eine erste Zeitdauer verlängert wird. Entsperchend der realisierbaren Kraftstoffdynamik kann die Füllungsdynamik für ein Steuergerät mit vollvariabler Ventilsteuereung begrenzt werden, so dass jederzeit das gewünschte Luftraftstoffverhältnis umgesetzt werden kann.

Haushaltsgerät zur pflege von wäschestücken mit einer mit radial federnden bügeln befestigten unwuchtausgleichsvorrichtung

Die Erfindung betrifft ein Haushaltsgerät 1 zur Pflege von Wäschestücken mit einem Gehäuse 2, in welchem eine Wäschetrommel 3 drehbar gelagert ist, und mit zumindest einer ringförmigen Unwuchtausgleichsvorrichtung 13, 14, welche an der Wäschetrommel 3 mit zumindest einem Halteelement 29 angeordnet ist, wobei das zumindest eine Halteelement 29 an der Unwuchtausgleichsvorrichtung 13, 14 befestigt ist und einen bezüglich einer Längsachse A der Wäschetrommel 3 radial nach außen orientierten und rampenförmigen Federbügel 33 aufweist, der im montierten Endzustand in radialer Richtung betrachtet in eine Aussparung 27 in einer Wand 7 der Wäschetrommel 3 nach außen hin eingeschnappt ist. Die Erfindung betrifft auch ein Verfahren zum Befestigen einer Unwuchtausgleichsvorrichtung 13, 14.

Method and device for quickly modifying the torque of an internal combustion engine

A method and a device for modifying a torque of an internal combustion engine including at least one first cylinder with an exhaust valve including a variable valve control, in which it is determined whether there is a demand for modifying the torque within a first working cycle of the at least one mfirst cylinder, and the basic triggering of the exhaust valve of the first cylinder is modified in the first working cycle when it is determined that it is necessary to modify the torque during the first working cycle.

Verfahren zum betreiben einer elektrohydraulischen ventilsteuerung einer brennkraftmaschine, computerprogramm sowie steuer- und regelgerät zum betreiben einer brennkraftmaschine

Dispositivo per comandare valvole a cambio di gas di un motore endoter mico

Method and device for quickly modifying the torque of an internal combustion engine

A method and a device for modifying a torque of an internal combustion engine including at least one first cylinder with an exhaust valve including a variable valve control, in which it is determined whether there is a demand for modifying the torque within a first working cycle of the at least one mfirst cylinder, and the basic triggering of the exhaust valve of the first cylinder is modified in the first working cycle when it is determined that it is necessary to modify the torque during the first working cycle.

Near-real-time continual 3d registration of objects in 2d x-ray images

Systems and methods are provided for a continual automatic registration of bone (- fragments), instruments, and implants based on only one additional X-ray without the need of changing the position of the X-ray source. According to the invention, a 2D X-ray image is received, which X-ray image shows a surgical region of interest. Artificial intelligence assisted automatic detection and localization of objects like bone (-fragments), tools (like a drill) and/or implants combined with a priori information about the surgical procedure are used to compute their relative 3D positions and orientations at any desired point in time. This registration of the objects can be repeated multiple times and can thus provide guidance in near real time.

Near-real-time continual 3d registration of objects in 2d x-ray images

Systems and methods are provided for a continual automatic registration of bone (- fragments), instruments, and implants based on only one additional X-ray without the need of changing the position of the X-ray source. According to the invention, a 2D X-ray image is received, which X-ray image shows a surgical region of interest. Artificial intelligence assisted automatic detection and localization of objects like bone (-fragments), tools (like a drill) and/or implants combined with a priori information about the surgical procedure are used to compute their relative 3D positions and orientations at any desired point in time. This registration of the objects can be repeated multiple times and can thus provide guidance in near real time.

Dispositivo per comandare valvole a cambio di gas di un motore endotermico

Internal combustion engine comprising a hydraulic system

An internal combustion engine ( 10 ) includes a hydraulic system ( 32 ) with a hydraulic pump ( 34 ). A lubricant system ( 14 ) for moving parts of the engine ( 10 ) is also provided, which includes a lubricant pump ( 16 ). To enable making the engine ( 10 ) smaller, it is proposed that the hydraulic pump ( 34 ) is connected to the lubricant system ( 14 ) in such a way that it can be lubricated by the lubricant.

Valve actuator for actuating a gas exchange valve of an internal combustion engine

A valve actuator for operating a gas exchange valve of an internal combustion engine has a sleeve-shaped positioning piston which is connected to a valve stem, has at least two shell-shaped wedge pieces enclosing a stem end of the valve stem, whose radially outer peripheral surfaces have a conical segment which tapers off with increasing distance from the gas exchange valve and which is at least partially surrounded by a conical clamping sleeve having a mating conical inner surface and is connected to the positioning piston. The wedge pieces are axially form-fittingly and rotatably connected to a threaded bolt. A threaded segment is provided on the threaded bolt via which the wedge pieces and the conical clamping sleeve are axially attachable to one another.

Brennkraftmaschine mit einem hydrauliksystem

Eine Brennkraftmaschine (10) umfasst ein Hydrauliksystem (32) mit einer Hydraulikpumpe (34). Ferner ist ein Schmiermittelsystem (14) für bewegte Teile der Brennkraftmaschine (10) vorgesehen, welches eine Schmiermittelpumpe (16) umfasst. Um die Brennkraftmaschine (10) kleiner bauen zu können, wird vorgeschlagen, dass die Hydraulikpumpe (34) an das Schmiermittelsystem (14) so angeschlossen ist, dass sie durch das Schmiermittel geschmiert werden kann.

Brennkraftmaschine mit einem hydrauliksystem

Eine Brennkraftmaschine (10) umfasst ein Hydrauliksystem (32) mit einer Hydraulikpumpe (34). Ferner ist ein Schmiermittelsystem (14) für bewegte Teile der Brennkraftmaschine (10) vorgesehen, welches eine Schmiermittelpumpe (16) umfasst. Um die Brennkraftmaschine (10) kleiner bauen zu können, wird vorgeschlagen, dass die Hydraulikpumpe (34) an das Schmiermittelsystem (14) so angeschlossen ist, dass sie durch das Schmiermittel geschmiert werden kann.

Ventilsteller zur betätigung eines gaswechselventils einer brennkraftmaschine

Die Erfindung betrifft einen Ventilsteller zur Betätigung eines Gaswechselventils einer Brennkraftmaschine mit einem hülsenförmigen Stellkolben (2), der mit einem Ventilschaft (5) verbunden ist, mit wenigstens zwei ein Schaftende (5a) des Ventilschafts (5) umschließenden, schalenförmigen Keilstücken (6, 7), an deren radial äußerer Umfangsfläche ein sich mit zunehmender Entfernung vom Gaswechselventil (1) verjüngender, konusmantelförmiger Abschnitt (10) vorhanden ist, der zumindest teilweise von einer Konusspannhülse (13) mit einer korrespondierenden Konusinnenfläche (12) umgeben ist und mit dem Stellkolben (2) in Verbindung steht. Die Keilstücke (6, 7) sind axial formschlüssig und drehbar mit einem Gewindebolzen (41) verbunden. Am Gewindebolzen (41) ist ein Gewindeabschnitt (31) vorgesehen, mittels dessen die Keilstücke (6, 7) und die Konusspannhülse (13) miteinander axial verspannbar sind.

Ventilsteller zur betätigung eines gaswechselventils einer brennkraftmaschine

Systems and methods for autonomous self-calibrating surgical robot

Systems and methods for autonomous robotic surgery are provided to control a movement of a robotic device so as to perform a surgical procedural step, wherein controlling of the movement is based on information including a spatial position and orientation of at least a part of the robotic device. A trigger information may cause the system to pause or stop the surgical procedural step and cause the system to receive a projection image. Further, the projection image may be processed so as to determine a spatial position and orientation of at least the part of the object or of the robotic device.

Precise 3d-navigation based on imaging direction determination of single intraoperative 2d x-ray images

Systems and methods are provided for image guided surgery. Such systems and methods receive a model of an anatomical structure as well as a model of an object, and process a projection image generated by an imaging device from an imaging direction, wherein the projection image includes at least a part of the anatomical structure and at least a part of the object. Based on (i) the projection image, (ii) the imaging direction, (iii) the model of the object, and (iv) the model of the anatomical structure, the systems and methods determine a spatial position and orientation of the object relative to a space of movement. The space of movement may be defined in relation to the anatomical structure.