СПОСОБ АВТОМАТИЧЕСКОГО УПРАВЛЕНИЯ ЭЛЕКТРОПРИВОДОМ МАШИНЫ ОТБОРА ПРОБ ГАЗА ДОМЕННОЙ ПЕЧИ

Изобретение относится к электротехнике и может быть использовано в доменном производстве черной металлургии. Технический результат заключается в повышении надежности и улучшении качества управления электроприводом машины отбора проб газа доменной мечи. Он достигается тем, что предложен способ автоматического управления электроприводом машины отбора проб газа доменной печи, содержащий электропривод, осуществляющий перемещение исследовательской трубы по заданным точкам отбора проб газа в доменной печи, при этом для управления применен частотно-регулируемый электропривод, управляемый логическим контроллером, на вход которого при перемещении исследовательской трубы поступают импульсы энкодера, фиксирующие перемещение трубы, при этом в логическом контроллере программно организованы N счетчиков импульсов энкодера, содержащих уставки срабатывания, соответствующие точкам отбора газа, при этом электропривод останавливается, в точках отбора газа по командам, поступающим от логического контроллера ...

СПОСОБ АВТОМАТИЧЕСКОГО РЕГУЛИРОВАНИЯ ПОЛОЖЕНИЯ ПРИВОДА

Изобретение относится к системам автоматического позиционирования приводов, в частности может быть использовано для управления приводами радиолокационных станций. Технический результат - повышение точности регулирования. Для достижения данного результата сигнал ошибки положения привода определяют на основе разности скорости привода и скорости расчетной точки, для определения которой используются параметры системы автоматического регулирования положения привода, а также положение, скорость и ускорение объекта и точки наведения. При этом управление объектом осуществляют по трем координатам в полярной системе координат. В процессе формирования управляющих воздействий по каждой координате осуществляют в асинхронном режиме ввод координат цели от радиолокационной станции (РЛС) в ЭВМ. Затем на основе использования метода «скользящего окна» определяют сглаженные координаты и скорости движения цели. После этого осуществляют экстраполирование координат цели на текущий момент времени, которые переводят ...

УСТРОЙСТВО ДЛЯ ПОЗИЦИОНИРОВАНИЯ МАШИНЫ ДЛЯ ОБСЛУЖИВАНИЯ БАТАРЕИ КОКСОВЫХ ПЕЧЕЙ

Изобретение относится к устройствам для обслуживания коксовых печей. Устройство позиционирования установленной с возможностью перемещения параллельно батарее (1) коксовых печей (2) обслуживающей машины (7) в рабочих положениях перед коксовыми печами (2) содержит установленные на обслуживающей машине (7) устройства наведения на относящийся к соответствующей коксовой печи (2) объект и устройства достижения соответствующего рабочего положения посредством регистрации объекта устройствами наведения. Объект наведения образован посредством одного вертикального края загрузочного отверстия (3) коксовой печи (2). Устройства достижения рабочего положения содержат регулировочное устройство и соединенное с ним устройство измерения длины пути перемещения. Обеспечивается повышение точности и надежности позиционирования обслуживающей коксовые печи машины. 6 з.п. ф-лы, 4 ил.

СИСТЕМА АВТОМАТИЧЕСКОГО УПРАВЛЕНИЯ ЭЛЕКТРОПРИВОДАМИ ЛЕНТОЧНОГО КОНВЕЙЕРА

Система автоматического управления электроприводами ленточного конвейера, содержащая три приводных электродвигателя, четыре преобразователя частоты, коммутационные аппараты силовых цепей электроприводов, причем выходы преобразователей частоты соединены с коммутационными аппаратами силовых цепей электроприводов, к которым в определенном порядке подключаются приводные электродвигатели, отличающаяся тем, что она снабжена логическим контроллером, входы которого соединены с выходами сигналов «Готов» преобразователей частоты, а выходы логического контроллера соединены с коммутационными аппаратами силовых цепей электроприводов, при этом логический контроллер по сигналу командного устройства автоматически собирает силовую схему электроприводов.

Устройство для регулирования положения объекта

Устройство для регулирования направления электронного луча

SERVOSYSTEM

IMPROVED MAGNETIC SENSING FOR MONITORS AND CONTROLLERS

ANORDNUNG ZUR POSITIONSERFASSUNG EINER DIGITALEN LAGEREGELUNG

SERVOVORRICHTUNG ZUM STEUERN DES ANLEGENS ELEKTRISCHER ENERGIE AN EINEN WECHSELSTROMMOTOR

Ladeeinrichtung mit Positionierungshilfe

Ladeeinrichtung mit Positionierungshilfe, wobei die Ladeeinrichtung ein Ladestromaufnahmeelement (20) aufweist, das eingerichtet ist, mit einem Ladestromabgabeelement (30) energieübertragend zu koppeln, wobei die Ladeeinrichtung zur Anordnung an einem Befestigungsort an einer Fahrzeugaußenseite (12) eingerichtet ist und wobei die Positionierungshilfe eine Lichtquelle (40) aufweist, die auf einen Raumabschnitt (44) gerichtet ist, welcher zumindest teilweise mit einem Raumabschnitt (22) überlappt, in den hinein das Ladestromaufnahmeelement (20) gerichtet ist, dadurch gekennzeichnet, dass die Ladeeinrichtung ferner eine der Lichtquelle (40) vorgeschaltete Ansteuerung (50) umfasst, die einen Eingang (52) aufweist eingerichtet zum Empfang eines Distanzsignals, das eine Distanz zwischen dem Ladestromabgabeelement und dem Ladestromaufnahmeelement wiedergibt, wobei die Ansteuerung (50) eingerichtet ist, bei unterschiedlichen Distanzen die Lichtquelle (40) zur Abgabe unterschiedlicher Farben anzusteuern ...

Online-Kompensations-Vorrichtung für Feedback-Positionen eines Encoders und Verfahren zum Betrieb desselben

Online-Kompensations-Vorrichtung für Feedback-Positionen eines Encoders, wobei die Online-Kompensations-Vorrichtung auf einen Motor angewendet wird, der von einem Treiber angetrieben wird, um mit einer konstanten Geschwindigkeit zu rotieren, wodurch die Fehler der Feedback Positionen des Encoders kompensiert werden, wobei die Online-Kompensations-Vorrichtung aufweist: eine Kompensations-Quantitäts-Berechnungs-Einheit umfassend: eine erste Recheneinheit, die eine vorbehandelnde Kompensations-Quantität und ein Impuls-Inkrement empfängt, um die vorbehandelnde Kompensations-Quantität und das Impuls-Inkrement aufzusummieren; und eine zweite Recheneinheit, die mit der ersten Recheneinheit verbunden ist und einen Encoder-Impuls empfängt, um den Encoder-Impuls von der Summe der vorbehandelnden Kompensations-Quantität und des Impuls-Inkrements abzuziehen, um somit eine Intervall-Kompensations-Quantität zu erzeugen; eine Positions-Intervall-Bewertungs-Einheit, die mit der Kompensations-Quantitäts-Berechnungs-Einheit ...

DIGITALE STELLEINRICHTUNG MIT VIELPHASENSTEUERUNG

Improvements relating to servo mechanical transmission systems

... 935,367. Electric selective signalling systems. ASSOCIATED ELECTRICAL INDUSTRIES Ltd. Dec. 5, 1961 [Dec. 5, 1960], No. 41763/60. Class 40 (1). The invention provides an apparatus in which a digital input results in a corresponding rotation of an output shaft. Considering a four digit input 1, the first two digits are fed of a comparator 11 which is also fed by a counter 5 which repeatedly counts to 100. A sampling pulse is generated at the instant of equality. The stator of a synchro 8 is fed with A.C. of frequency equal to the repetition frequency of the counter 5. From its rotor is obtained an A.C. voltage which is sampled at 14 by the sampling pulse from the comparator. If the sampled voltage is not zero motor 15 operates to move the rotor of the synchro. Each sampling pulse causes the rotor to be moved a little so that the sampled voltage is gradually reduced to zero. Motor 15 also drives an output shaft 2. The third digit is converted by unit 13 to a bias voltage which biases at 21 ...

ELECTRIC PULSE RECORDER UNDER DIGITAL SERVO CONTROL

... 1,245,045. Electric selective signalling. J. PONS. 17 April, 1969, No. 19783/69. Heading G4H. A shaft is rotated by a reversible motor 16 (Fig. 1) by an amount dependent on the number stored in, for example, a binary coded decimal counter 4. The counter may be read out at regular time intervals so that the shaft displacement represents the mean frequency of the pulses at input terminal 2 during each time interval. In the embodiment of Fig. 1 the contents of the counter are fed to a store 6 connected to a decoder 11 delivering a signal on one of ten leads E 0 -E 9 to a diode matrix 13 which, for an input signal on lead Ek delivers a "1" output on leads S o -S k and a "0" output on leads S k+1 -S 9 . The leads S 0 -S 9 are connected to NAND gates 21 the gates deriving their other input from contact studs 18 of a switch 17, the studs being enabled in pairs. The switch 17 is rotated by motor 16 either forwards or backwards in dependence on whether 0 or 2 of the gates 21 have "0" outputs until ...

Digitiser

... 1,149,250. Selective signalling. HOLLANDSE SIGNAALAPPARATEN N.V. 8 March, 1966 [12 March, 1965], No. 57427/68. Divided out of 1,149,249. Heading G4H. The system described in the parent Specification is modified in that a reversible counter is used for the coarse counter, and in that, as a consequence, it is not necessary to give the coarse counter an initial negative bias. The claims relate to this feature.

Improvements in or relating to Positioning Apparatus

... 1,162,371. Inductive control of vehicles. ELECTRIC & MUSICAL INDUSTRIES Ltd. 15 Sept., 1966 [15 Sept., 1965], No. 39303/65. Heading H4U. Apparatus for positioning a movable member, e.g. a vehicle or crane, at a selected one of a number of stations arranged along a path, comprises at least one conductor supplied with periodically varying current and arranged to provide in predetermined relationship with said stations regions in which there is a predetermined change in the direction of a periodically varying magnetic field, sensing means including a pair of spaced coils mounted on the movable member and connected so that a predetermined control signal is obtained when the coils bridge one of said regions and means including a reversible counter responsive to said control signals to position the movable member at the required station. The apparatus is described in relation to vehicles which are automatically guided to storage bins along a route in a warehouse. The vehicles may be mounted on ...

NOZZLE CONTROL SYSTEM ENVELOPE FLAP MOISTENER.

A nozzle 50 for moistening gummed envelope flaps 42 has its position automatically controlled to track the gummed portions 43 as the envelopes 30 are moved therepast at high speed. A sensor 72 attached to the nozzle senses the location of the gummed edge of the flap within about 0.2 inch (5mm) of the nozzle upstream thereof a plurality of times as the flap moves to and past the nozzle. The nozzle/sensor assembly tracks the flap edge by sliding on slideway 58, 59 in accordance with sensing of the envelope flap. The nozzle may be pre-positioned before the arrival of each envelope by a lower bandwidth servo system having an envelope sensor 70 located further upstream of the tracking sensor. A higher bandwidth servo loop controls tracking of the nozzle in response to the tracking sensor. It is not necessary to use stored or computed envelope flap profiles, envelope speeds, etc., for the nozzle to track the envelope flap. ...

CONTROL SYSTEM FOR DISC DRIVE APPARATUS

Improvements in servosystems for converting a binary indication into an angular position on a shaft

... 955, 440. Electric selective signalling systems. CSF-COMPAGNIE GENERALE DE TELEGRAPHIE SANS FIL. April 4,1962 [April 7, 1961], No. 13059/62. Heading G4H. In a servo-system a desired position N(#) of a shaft is converted into a correspondingly phasedisplaced square-wave S # and compared with a second phase-displaced square-wave E representing the actual position of the shaft any difference e being-used to control the shaft until it reaches the desired position. The signal E representing the actual position of the shaft is derived from a circular potentiometer 5 which receives a reference signal S o and a ninety-degree phase-shifted signal S #/2 at the ends of perpendicular diameters.

Improvements in and relating to Servo Systems

... 1,150,726. Positioning devices. ELECTRIC & MUSICAL INDUSTRIES Ltd. 31 May, 1966 [29 May, 1965], No. 22937/65. Heading G4H. In a servo system for positioning a member, e.g. a shaft 1 in accordance with a digital input signal, the input signal 2 and a signal representing the actual position of the shaft, stored in binary coded form in stores 3, 14 respectively, are each converted into a pulse train by gating means 6, 7, 16, 17 each of which when enabled by a " 1 " bit from the stores 3, 14 passes the number of pulses appropriate for their binary weighting, i.e. 8, 4, 2, 1, the pulse trains being compared in a comparator 21 to give a difference signal which controls the motor 37 driving the shaft. The pulse train representing the required digital position is delayed so that the two pulse trains are out of phase. The pulse trains are also applied to a bi-stable 28 which delivers an output pulse through one of the gates 26, 27 when two pulses are received on one of the leads 10, 15 with no intervening ...

REFERENCE SIGNAL SERVO SYSTEM

... 1,200,584. Automatic speed control. AMPEX CORP. Feb.26, 1969 [March 1, 1968], No.10225/69. Heading G3R. In a system for controlling a driven member according to a reference signal indicative of the desired condition of the member a secondary control loop is provided to remove unwanted variations in the reference signal. In a system for controlling the speed of the head drum 3 of a video tape recorder, the reference signal 59 is derived from the sync. pulses in the video signal during recording and from a control track of the tape during playback. Irregularities in the reference signal are removed by the secondary control 17 and the resulting reference signal is compared with the output of a tachometer generator 21 in a bi-stable circuit 19, the output of the comparator 19 after intergration controlling the energization of a printed circuit motor 9 driving the drum 3 so that the drum is synchronized with the reference signal. The control 17 includes a variable frequency oscilator 37 supplying ...

PROCESS AND DEVICE FOR CONTROLLING BENDING MACHINES

METHOD AND APPARATUS FOR TRANSFERRING PARTS

... 1534167 Transfer machine control BENDIX CORP 9 Aug 1976 [20 Aug 1975] 33094/76 Heading G3N A transfer machine moves articles 14 randomly located and orientated at a first station 16 to a variable location 20. The articles, e.g. brakeshoes, are removed from bin 48 by electromagnetic or vacuum pick-up and release head 46 and dropped on slide 50 whence they arrive singly on surface 64 within pusher assembly 66 which moves them to station 16. The robot hand 12, with six degrees of freedom, has been taught to move between a fixed position of station 16 to pick up an article and deposit it at location 20 and the program for this is held in digital computer 74. The actual position and orientation of article 14 is measured by optical scanner 70 and the resulting data is fed back to computer 74 which produces an amended program to take this into account. The procedure for producing the amended program is described in considerable detail Figs. 4-8 (not shown). This can also be used for rivet and ...

ANGULAR POSITION RESOLVER

DEVICE FOR THE DETERMINATION OF THE POSITION OF A DRIVING VEHICLE

Method of determining and presetting the desired speed value in rail bound vehicles

In a method of determining and presetting the desired speed value for rail bound vehicles, the route travelled from the starting location is determined by integrating the recorded actual speed of the vehicle. The permissible maximum speed for route sections, and the distance of points on the route from the starting location are stored in a route database 4. The longitudes and latitudes relating to points on the route, determined by surveying the route, are stored in a further database 3. At time intervals, the position of the vehicle is determined by means of satellite navigation 7. Then, using these recorded longitudes and latitudes relating to a position, the surveyed longitudes and latitudes relating to individual points on the route, and the distance between adjacent cartographic longitudes and latitudes, a search loop with a minimum-value algorithm is used to determine the distance between the position and the nearest stored surveyed point on the route. In this way, the integration ...

Apparatus for determining the position of a travelling vehicle

An apparatus for determining the position of a controlled vehicle travelling over a predetermined path has a storage module 1, in which there are stored parameters, relating to the path to be travelled, subdivided into sections, specifically the absolute position, the radius of curvature of curves and the length of the curve in the respective section. Also provided is a sensor group 2 for detecting measured variables of the vehicle during the journey, this group having a measured-value transmitter 3 which detects measured variables occurring when travelling through a curve, and a position sensor 4 which measures the positional change of the vehicle and the absolute speed in the direction of travel. The control signals from the measured-value transmitter 3 and the position sensor 4 are fed to a control unit 5, as are those from a storage module 1 in which path information is stored, the said control unit defining the change profile of the actual parameters of the correction curves and carrying ...

THREE POINT HITCH VELOCITY CONTROL

Method and apparatus for controlling a fluid operated actuator

A positioner (102) for controlling a fluid operated actuator (101) including a first fluid chamber (109) and a second fluid chamber (110) is provided. The positioner (102) comprises a first fluid conduit (105) coupled to the first fluid chamber (109). The positioner (102) also comprises a second fluid conduit (106) coupled to the second fluid chamber (110). A differential pressure controller (240) provided in the positioner (102) is adapted to control a fluid supply to the first and second fluid conduits (105, 106) based on a differential pressure between the first and second fluid chamber (109, 110).

POSITION-MEASURING TRANSFORMER

Solar tracking system

POSITION-MEASURING TRANSFORMER

Vehicle guidance system

RECORD STORAGE APPARATUS EMPLOYING ENHANCED TRANSDUCER POSITIONING SERVOMECHANISMS

DIGITAL PROPORTIONAL SERVO SYSTEM

HYDRAULIC DEVICE FOR SUPPLYING A HYDRAULIC DRIVING UNIT

FUEL COMPOSITIONS A highly effective fuel additive composition for control of intake valve deposits is described. It comprises (a) a gasoline-soluble Mannich reaction product of (i) a high molecular weight alkyl-substituted phenol wherein the alkyl group has a number average molecular weight of from about 600 to 3000, (ii) amine, and (iii) aldehyde; and (b) a gasoline-soluble poly(oxyalkylene) compound having a viscosity in its undiluted state of at least about 70 cSt at 40.degree.C and at least about 13 cSt at 100.degree.C. These components are proportioned such that there are from about 0.2 to about 5 parts by weight of active Mannich base in (a) per part by weight of (b).

DISPOSITIF D'AFFICHAGE ANALOGIQUE.

Maschine zur automatischen Bearbeitung eines Werkstückes gemäss einem vorbestimmten Profil

Vorrichtung zum Messen der Grösse der Verdrehung einer Welle

Dispositif de servo-commande destiné à assurer le déplacement d'un premier élément par rapport à un second élément.

Servosystem mit einem einen Richtpunktberechner enthaltenden Kommandogerät und einem in bezug auf seine Richtung nach zwei Einstellwinkeln gesteuerten Organ

Anordnung zu der digitalen Ablesung der Lage eines Gegenstandes

Schaltungsanordnung zur Feststellung der gegenseitigen Uebereinstimmung der Stellungen von Kontakten

Anordnung für die optische Lageabtastung

Verfahren zur digitalen Erfassung des Momentanwertes eines zeitlichen Änderungen unterworfenen Phasenwinkels einer Messwechselspannung

Dispositif électronique de commande des déplacements d'un organe mobile

Einrichtung zum Einstellen der Magnetköpfe eines Magnettrommelspeichers auf ausgewählte Datenspuren

Numerische Bewegungsüberwachungs- und -steuereinrichtung

Einrichtung zur Einstellung der Lage eines Datenträgers

DETEKTORVORRICHTUNG AN EINER RUNDSTRICKMASCHINE.

VORRICHTUNG ZUM STEUERN DES ANHALTENS EINES ENTLANG EINER BAHN GEFUEHRTEN KOERPERS BEI GEWUENSCHTEN LAGEN.

LAGEMESSTRANSFORMATOR.

Verfahren zur Steuerung eines Schaltwerkes, insbesondere für elektrische Triebfahrzeuge

Digital-Positionsmessvorrichtung

Fotoelektrischer Schrittgeber

Dispositif convertisseur analogique-digital

Schaltungsanordnung zur Feststellung der gegenseitigen Übereinstimmung der Stellungen von Kontakten

Installation d'asservissement à commande digitale

Signalübertragungseinrichtung in einer Steuer- oder Regelanlage

Comparateur d'images formées par des densités inégales de flux d'énergie radiante

Elektrische Messeinrichtung zum Bestimmen der Lage von zwei gegeneinander beweglichen Teilen

MIT MAGNETKRAEFTEN ARBEITENDE POSITIONSSTEUEREINRICHTUNG FUER EIN OBJEKT.

POSITION MEASURING INSTRUMENT WITH A POSITION INSTRUMENT TRANSFORMER.

ANALOGICAL DISPLAY DEVICE.

POSITION RULE DEVICE WITH DIGITAL INKREMENTELLEN MEASURING INSTRUMENT.

DEVICE FOR THE CONTROL OF A DIRECT CURRENT MOTOR.

Verfahren zur Regelung des Antriebs eines militärischen Geräts, insbesondere einer Waffe oder eines Sensors.

Die Erfindung betrifft ein Verfahren zur Regelung eines elektrischen Antriebs eines militärischen Geräts, insbesondere eine Waffe oder eines Sensors, wobei das Gerät im Azimut und Elevation mittels des Antriebs ausgerichtet wird, wobei eine Regelstruktur (1) zur Regelung des Antriebs verwendet wird. Eine Unterdrückung von Schwingungen und insbesondere Resonanzschwingungen ist effektiv dadurch möglich, dass eine lastseitige Geschwindigkeitsregelung und/oder eine lastseitige Positionsregelung vorgenommen werden.

Drive control method for a military equipment, in particular a weapon or a sensor.

Die Erfindung betrifft ein Verfahren zur Regelung eines elektrischen Antriebs eines militärischen Geräts, insbesondere einer Waffe oder eines Sensors, wobei das Gerät im Azimut und in der Elevation mittels des Antriebs ausgerichtet wird, wobei eine Regelstruktur (1) zur Regelung des Antriebs verwendet wird. Eine Unterdrückung von Schwingungen und insbesondere Resonanzschwingungen ist effektiv dadurch möglich, dass eine lastseitige Geschwindigkeitsregelung und/oder eine lastseitige Positionsregelung vorgenommen werden.

Domestic many gears solar charging ware circuit

Over-and-under type photoelectric monitoring device

CCD photoelectric detection system

Solar energy distributed linear solar optical lens tracking system and application

The invention aims to provide a solar energy distributed linear solar optical lens tracking system which can be arranged in a distributed mode according to land conditions of urban regions and application. A group of solar linear utilization system consists of at least one solar utilization device, a solar tracking system, a linear solar optical lens and a tracking bracket; and a plurality of groups of solar linear utilization systems are distributed in different regions, and a plurality of groups of solar utilization devices can be interconnected together to form the solar linear utilization system. The array mode of the conventional trench type solar system is changed into a distribution mode, so that the solar trench type solar utilization technology is suitable for different regions and cities and is convenient to apply to different regions and integrated buildings, the requirement and limitation of the technology on places are reduced, the types and modes of solar utilization are broadened ...

Beam dynamic leveling device for movable beam gantry equipment

The invention relates to a beam dynamic leveling device for a piece of movable beam gantry equipment. The beam dynamic leveling device comprises an elevator motor, a horizontal spindle which is in transmission connection with the elevator motor, and a first worm elevator which is in transmission connection with the right end of the horizontal spindle by a worm, wherein the first worm elevator comprises a first down-feed screw used for connecting one end of the beam; the left end of the horizontal spindle is in transmission connection with a second worm elevator by a flexible coupler; the second worm elevator comprises a second down-feed screw used for connecting the other end of the beam; and the second worm elevator is in transmission connection with a beam leveling compensator which is used for controlling the up and down displacement of the second down-feed screw. In this way, when the beam is leveled and compensated, the first worm elevator is motionless while the second down-feed screw ...

Photoelectric induction tracking device for movement tracks of the sun

Infrared thermal imaging searching/ tracking/ aiming device and method

Solar linear multi-mirror zooming and unidirectional tracking system and application

The invention discloses a solar linear multi-mirror zooming and unidirectional tracking system and application. In the system, a group of solar optical mirrors consisting of a plurality of reflecting mirrors, a Fresnel mirror, and a plane mirror are adopted; a resolving shaft of each mirror is arranged on a non-linear device; each solar optical mirror can rotate around the shaft; as solar energy utilization equipment is arranged in a cylinder interval on ground or a building, when the solar mirror moves, the solar energy utilization equipment keeps still, and the focal length is variable zooming and tracking; and the solar energy utilization equipment is arranged in a cylinder, so that the utilization of the focused and tracked solar energy is realized. The invention provides an array structure of the system, which is suitable for systems of different scales, and simultaneously suitable for large-scale unitization of the solar energy, particularly photovoltaic generation, thermal power ...

Solar linear multi-mirror zooming and multi-directional tracking system and application

The invention discloses a solar linear multi-mirror zooming and multi-directional tracking system and application. In the system, a group of solar optical mirrors consisting of a plurality of reflecting mirrors, a Fresnel mirror, and a plane mirror are adopted; a resolving shaft of each mirror is arranged on a parabola-shaped or arc-shaped device; each solar optical mirror can rotate around the shaft; and the parabola-shaped or arc-shaped device can move, so that the multi-directional tracking that the solar mirror rotates around a starting shaft and the parabola-shaped or arc-shaped device moves is realized. The system is suitable for the comprehensive utilization of the multiple kinds of the solar energy of different scales, particularly photovoltaic generation, thermal power generation, high-temperature steaming, heating, cooking and the like of the solar energy, and the solar energy utilization of different functions can be provided in a system.

Physical quantity conversion sensor and motor control system using the same

Solar energy tracking and interconnected three-axis double-column robot

For multi-detector-fusion scanning imaging system to eliminate rotation of the multi-directional control method

Load synchronous control system for lift framing scaffold

Zero position focusing method, system of integrated movement and electronic equipment

Image adaptive centering scheme during target tracking of photoelectric turntable

The invention discloses an image adaptive centering scheme when a photoelectric turntable tracks a target. The scheme comprises a photoelectric turntable, a target and an image adjustment scheme. The photoelectric rotary table comprises a camera, an algorithm is arranged in the photoelectric rotary table, the image adjusting scheme comprises the steps of S1, S2 and S3, and the method relates to the technical field of image processing algorithms and rotary table tracking control. In the high-precision tracking process of a long-distance small target, if the target is not located in the center of an image before tracking is started, the rotary table moves the target to the center of the image according to an algorithm. In a moving process, if a target moves too fast in an image, an image tracking algorithm is influenced, the target is lost, and the whole tracking process fails, so that a self-adaptive target centering scheme is realized by adopting a mode of matching image calculation and ...

Incremental movement control of plotting table axes - uses controller producing number of pulses proportional to movement required

Automatic calculator of ordering of maximum request

CODEUR ANGULAIRE DYNAMIQUE

L'INVENTION CONCERNE UN CODEUR ANGULAIRE DYNAMIQUE. L'OBJET DE L'INVENTION EST UN CODEUR ANGULAIRE DYNAMIQUE PLUS PARTICULIEREMENT DESTINE A LA MESURE DES ECARTS DE POSITION D'UN ORGANE MOBILE CARACTERISE EN CE QU'IL EST CONSTITUE D'UN DISQUE 2 OU ANALOGUE ENTRAINE EN ROTATION PAR UN MOYEN MOTEUR 4 APPROPRIE QUELCONQUE, D'UN COMPTEUR D'IMPULSIONS 10 ALIMENTE PAR UN SYSTEME D'HORLOGE H DELIVRANT DES IMPULSIONS EN NOMBRE CONSTANT PAR TOUR DU DISQUE, D'UN DISPOSITIF 5, 6 DE REMISE A ZERO DU COMPTEUR A CHAQUE TOUR COMPLET DU DISQUE, SYNCHRONISE AVEC LE SYSTEME D'HORLOGE, ET D'UN DISPOSITIF DE DETECTION DE PASSAGE 5, 7 COMPRENANT DEUX ELEMENTS ASSOCIES DISPOSES, L'UN 5, EN UN ENDROIT DETERMINE DU DISQUE ET L'AUTRE 7, EN REGARD SUR UN SUPPORT 8 MOBILE EN ROTATION COAXIALEMENT AU DISQUE ET DONT LA VARIATION ANGULAIRE EST PROPORTIONNELLE A LA VARIATION DE LA POSITION ANGULAIRE, LINEAIRE OU AUTRE, DE L'ORGANE A CONTROLER, LEDIT DISPOSITIF DE DETECTION DE PASSAGE 5, 7 ETANT RELIE AUDIT COMPTEUR 10 ...

Linked systems

DISPOSITIF DE CONTROLE DU DEPLACEMENT PAR INCREMENT RECTILIGNE D'UN ORG

Dispositif de contrôle du déplacement d'un organe commandé par deux moteurs à partir d'informations DELTA X, DELTA Y fournies sous forme numérique binaire. Deux circuits BRM 4, 5 recevant les informations DELTA X, DELTA Y ainsi que le signal FH d'une horloge 3 pendant un temps constant, délivrent des signaux FX et FY commandant les moteurs. Un circuit BRM 11, programmé par une matrice 16, alimente les circuits 4, 5 avec une fréquence variable adaptée à la limite de la réponse linéaire des moteurs. Des compteurs-décompteurs 19, 20 et des convertisseurs Numérique/Analogique 21, 22 permettent de commander des moteurs à couranz continu à position asservie. Application au tracé de vecteur sur table potentiométrique ou au positionnement numérique d'une machine-outil.

ANALOG/DIGITAL PROCESSING TECHNIQUES

Inspecting PROCESS AND DEVICE Of APPARATUSES OF POSITIONING

CONTROL DEVICE OF RELATIVE DISPLACEMENTS Of ELEMENTS IN PARTICULAR TO REACH HAS a PILE OF FLOPPY DISCS

ANALOGICAL DIGITIZER HAS INSENSITIVITY WITH REGARD TO THE PROFIT

CONTROL FOR DISC DRIVE APPARATUS

POSITIONING DEVICE

Methods and apparatus to limit a change of a drive value in an electro-pneumatic controller

Example methods and apparatus to limit a change of a drive value in an electro-pneumatic controller are disclosed. A disclosed example method includes determining a slew limit of a controller based on noise in at least one of a control signal or a feedback signal, calculating a drive value based on the control signal and the feedback signal, and changing the calculated drive value if a difference between the drive value and a previous drive value is greater than the slew limit of the controller.

Vehicle seat apparatus

Provided is a vehicle seat apparatus including drive mechanism for moving configuring elements of a vehicle seat using a motor drive, in order to adjust a posture; control mechanism for controlling the operation of the drive mechanism; a rotation sensor which outputs pulse signals synchronized with a motor rotation; position detection mechanism for detecting a movement position of the configuring elements by counting pulse edges of the pulse signals according to the motor rotation direction; and reverse rotation detection mechanism for estimating that a reverse rotation has occurred in the motor rotation, in a situation where the pulse edges are continuously detected after the motor drive is stopped, if the rotation direction is unchanged, in a case where a motor rotation speed indicated by the pulse edges after the stop becomes faster than the motor rotation speed before the motor drive is stopped.

MULTI-AXIS MOTOR DRIVING SYSTEM AND MULTI-AXIS MOTOR DRIVING APPARATUS

The multi-axis motor driving apparatus includes an integrated controller that is configured to discriminate between a drive axis that uses the motor subjected to semi-closed control based on the motor control command and a detection position detected by the encoder and a drive axis that uses the motor subjected to full-closed control based on the motor control command, the detection position detected by encoder and a detection position detected by the linear scale, based on a change amount of the detection position of the encoder or the detection position of the linear scale obtained when the motor subjected to full-closed control is driven. 1. A multi-axis motor driving system , comprising:a plurality of motors, each comprising a first detector for detecting at least a position;a host control device for outputting a motor control command;at least one second detector for detecting a position of a load of at least one of the plurality of motors; anda multi-axis motor driving apparatus including a controller for driving the plurality of motors based on the motor control command and for discriminating, based on a change amount of a first detection position detected by the first detector and a change amount of a second detection position detected by the second detector, between a first drive axis for driving the motor by using the first detection position and a second drive axis for driving the motor by using the second detection position.2. The multi-axis motor driving system according to claim 1 , wherein the controller of the multi-axis motor driving apparatus discriminates between the first drive axis subjected to semi-closed control based on the motor control command and the first detection position and the second drive axis subjected to full-closed control based on the motor control command claim 1 , the first detection position claim 1 , and the second detection position claim 1 , based on the change amount of the first detection position or the change amount of ...

EMBEDDED-COMPONENT-TYPE ACTUATOR AND CONTINUOUSLY VARIABLE VALVE DURATION SYSTEM, AND VALVE TRAIN SYSTEM FORMED THEREBY

An embedded-component-type actuator is provided. The actuator includes an output shaft that is rotated, a planetary gear set that forms an overlapping section coaxially with the output shaft, and a motor that is coupled to the overlapping section of the planetary gear set. A sensing controller detects a rotation angle of the output shaft. The output shaft passes an actuator housing and the planetary gear set, the motor, and the sensing controller are arranged in series, thus minimizing a package. Additionally, the actuator is applied as the power source of a CVVD system to improve mountability to a complex engine room due to the space occupancy minimization. 1. An actuator , comprising:a planetary gear set that forms an overlapping section with an output shaft being rotated;a motor that forms a concentric section coupled to the overlapping section to be arranged in series with the planetary gear set and that forms a fixed section with the output shaft; anda sensing controller configured to detect a rotation angle of the output shaft behind the motor.2. The actuator of claim 1 , wherein the overlapping section is formed by the output shaft passing through the planetary gear set claim 1 , and the concentric section is formed by the motor enclosing the overlapping section.3. The actuator of claim 1 , wherein the overlapping section includes a bearing interposed between the output shaft and the planetary gear set claim 1 , and the fixed section includes a bearing interposed between the output shaft and the motor.4. The actuator of claim 1 , whereinthe output shaft includes a shaft carrier with a connection shaft configured to output output power and a concentric shaft connected to the connection shaft and that forms the overlapping section and the fixed section separated by a carrier flange,the planetary gear set includes a sun gear that forms a hollow sun gear shaft with the concentric shaft passing therethrough, planetary gears circumscribed about the sun gear, ...

CONNECTED VEHICLE LIFT AND STORAGE SYSTEM

A connected vehicle lift and storage system (VLSS) can include a plurality of platforms for storing vehicles that are movable between a plurality of positions. The connected VLSS can communicate with a computing device operated by a user to receive requests to store or retrieve the user's vehicle(s). As part of the request, location data generated by the computing device can be transmitted to the connected VLSS. In response to the request, the connected VLSS can determine a sequence of platform movements to fulfill the request to store or retrieve the user's vehicle(s). The sequence can be determined, at least in part, on the location data of the requesting user and/or the location data of other users. In addition, the sequence can be determined to minimize wait times for the requesting user and other users. 1a plurality of platforms for supporting motor vehicles, each of the platforms being movable between a plurality of storage positions and one or more vehicular access positions, the one or more vehicular access positions allowing for vehicular access to the vehicle lift and storage system;one or more moving mechanisms operatively connected to the plurality of platforms to move the platforms between the plurality of storage positions and the one or more vehicular access positions; receive user data associated with a user of the vehicle lift and storage system, the user data comprising location information of the user and identification information of the user;', 'based on the identification information of the user, identify, among the plurality of platforms, a platform on which a vehicle associated with the user is located; and', 'based on a position of the identified platform and the location information of the user, update a sequence for moving the plurality of platforms to include steps for moving the identified platform to one of the one or more vehicular access positions., 'a control system for controlling the vehicle lift and storage system, the control ...

METHOD AND SYSTEM FOR STABILIZING A PAYLOAD

An apparatus includes a carrier, one or more first sensors, one or more second sensors, and one or more processors. The carrier includes a first frame and a second frame. A payload is affixed to the first frame. The second frame is rotatably coupled to a movable object. The one or more first sensors are disposed on the payload and configured to measure one or more motion characteristics of the payload. The one or more second sensors are disposed on the carrier and configured to measure one or more motion characteristics of the carrier. The one or more processors are configured to determine an input torque based on the one or more motion characteristics of the payload, determine an estimated disturbance torque based on the one or more motion characteristics of the carrier, and calculate an output torque based on the input torque and the estimated disturbance torque. 1. An apparatus for controlling an attitude of a payload , comprising: a first frame, the payload being affixed to the first frame; and', 'a second frame rotatably coupled to a movable object;, 'a carrier comprisingone or more first sensors disposed on the payload and configured to measure one or more motion characteristics of the payload;one or more second sensors disposed on the carrier and configured to measure one or more motion characteristics of the carrier; and determine an input torque based on the one or more motion characteristics of the payload;', 'determine an estimated disturbance torque based on the one or more motion characteristics of the carrier; and', 'calculate an output torque based on the input torque and the estimated disturbance torque, the output torque being configured to effect movement of the second frame to achieve a desired attitude of the payload., 'one or more processors individually or collectively configured to2. The apparatus of claim 1 , further comprising:the movable object; anda damping element disposed between the movable object and the carrier; wherein the carrier is ...

Electronic Stopper in Actuator Control

A system and method of controlling a position of a structure. A position command indicating a desired position for the structure and a position feedback signal indicating the position of the structure are received. A position control signal is generated based on a difference between the desired position and the position indicated by the position feedback signal. A stop feedback signal relative to the position of the structure is received. A stop control signal is generated based on the stop feedback signal and a stop condition for the structure. One of the position control signal and the stop control signal is selected. The selected one of the position control signal and the stop control signal is provided to an actuator for controlling the position of the structure. 1. A method of controlling a position of a structure , comprising:using an actuator controller to perform the steps of:receiving a position command indicating a desired position for the structure, wherein the structure is configured to move over a mechanical range of positions;receiving a position feedback signal indicating the position of the structure;generating a position control signal based on a difference between the desired position and the position of the structure indicated by the position feedback signal;receiving a stop feedback signal indicating a current condition of the structure relative to the position of the structure;generating a stop control signal based on a difference between the stop feedback signal and a stop condition for the structure, wherein the stop condition defines a stop for the structure;selecting a one of the position control signal and the stop control signal as an actuator control signal by selecting the position control signal to be the actuator control signal in response to a determination that a magnitude of the position control signal is smaller than a magnitude of the stop control signal and selecting the stop control signal to be the actuator control signal in ...

Design Assist Apparatus, Design Assist Method, and Design Assist Program

In the design of a mechanical component for a mechanical device driven by a feedback controlled electric motor, the user is enabled to easily know how the properties of mechanical component affect the generation of abnormal vibrations of the mechanical device. In a design assist apparatus (), the processor () is configured to set a plurality of parameters of a mathematical model of an analysis target component selected from one or more mechanical components () forming the mechanical device, compute a pole of a transfer function of the mechanical device associated with one or more vibration modes of the mechanical device according to the parameters, and create a stability determination diagram including an isoline of a real part of the pole of the transfer function. 1. A design assist apparatus , comprising:a processor configured to execute a process of assisting design of a mechanical device driven by a feedback controlled electric motor,wherein the processor is configured to set a plurality of parameters of a mathematical model of an analysis target component selected from one or more mechanical components forming the mechanical device, compute a pole of a transfer function of the mechanical device associated with one or more vibration modes of the mechanical device according to the parameters, and create a stability determination diagram including an isoline of a real part of the pole of the transfer function.2. The design assist apparatus according to claim 1 , further comprising a display unit for displaying the stability determination diagram.3. The design assist apparatus according to claim 1 , wherein claim 1 , when the mechanical device has a plurality of vibrations modes claim 1 , the stability determination diagram created by the processor includes isolines of the real parts of the poles of the transfer function corresponding to the respective vibrations modes.4. The design assist apparatus according to claim 1 , wherein the parameters include those ...

OBJECT DETECTION AND IMPLEMENT POSITION DETECTION SYSTEM

An industrial machine with a frame and a working implement coupled to the frame. A control system is operably coupled to the working implement and includes a three-dimensional sensor that is coupled to the frame. The three-dimensional sensor is positioned to detect information related to the working implement and an object in a surrounding environment. 1. An industrial machine comprising:a frame,a working implement coupled to the frame;a control system operably coupled to the working implement and including a three-dimensional sensor coupled to the frame and positioned to detect information related to the working implement and an object in a surrounding environment; and receive the detected information related to the working implement and the object in the surrounding environment;', 'operate the working implement based on the received detected information related to the working implement; and', 'steer the machine based on the received detected information related to the object in the surrounding environment., 'wherein the control system is configured to2. The machine of claim 1 , wherein the working implement is a conveyor system.3. The machine of claim 1 , wherein the three-dimensional sensor is a lidar sensor.4. The machine of claim 1 , wherein the three-dimensional sensor is a first three-dimensional sensor and the working implement is a first working implement claim 1 , further comprising:a second working implement coupled to the frame; anda second three-dimensional sensor coupled to the frame and positioned to detect information related to a second working implement coupled to the frame and the surrounding environment.5. The machine of claim 4 , further comprising:a third working implement coupled to the frame; andwherein the second three-dimensional sensor detects information related to the third working implement.6. The machine of claim 5 , wherein the control system is further configured to:receive the detected information related to the second working ...

DOOR OPENING/CLOSING CONTROL DEVICE

An unintentional operation of a door is prevented while the usability of the door is improved. A power back door control device includes: an operation signal acceptor configured to accept an operation signal of a back door opening/closing switch for performing an operation of opening or closing a back door of a vehicle; a controller configured to control opening/closing of the back door via a motor when the operation signal acceptor accepts the operation signal; and a stopping state detector configured to detect whether or not the vehicle is in a stopping state based on information about traveling or stopping of the vehicle acquired by a vehicle-side ECU. When the stopping state detector detects that the vehicle is not in the stopping state, the controller performs fixing control of the back door so as to keep the back door from moving. 1. A door opening/closing control device , comprising:an operation signal acceptor configured to accept an operation signal of an operation switch for performing an operation of opening or closing a door of a vehicle;a controller configured to control opening/closing of the door via an actuator when the operation signal acceptor accepts the operation signal; anda stopping state detector configured to detect whether or not the vehicle is in a stopping state based on information about traveling or stopping of the vehicle acquired by a vehicle-side unit,wherein, when the stopping state detector detects that the vehicle is not in the stopping state, the controller performs fixing control of the door so as to keep the door from moving.2. The door opening/closing control device according to claim 1 , further comprisinga position detector configured to detect an opening/closing position of the door,wherein, when the stopping state detector detects that the vehicle is not in the stopping state and the position detector detects that the door is not at a fully closed position, the controller performs fixing control of the door via the actuator ...

POSITION-CONTROLLED CONTROL WITH COMPENSATION OF ELASTICITY-INDUCED POSITION ERRORS

Control commands for a control device of a machine define a sequence of successive sections of ideal position target values for a position-controlled shaft of the machine. The ideal position target values either increase or decrease monotonically within the sections, but the direction of the monotony changes from section to section. A position controller determines actuating signals for an actuator from position target values resulting from ideal position target values, additional target values and position actual values. Within sections, the additional target values are positive (negative) when the ideal position target values increase (decrease) monotonically. The additional target values have a first component dependent exclusively on a position difference, with the magnitude of the first component increasing as the magnitude of the position difference increases, first strictly monotonically and then at least monotonically. 112.-. (canceled)13. A method for controlling a machine having at least one position-controlled shaft , the method comprising:specifying for a control facility of the machine a sequence of control commands which define for the at least one position-controlled shaft a sequence of ideal position target values composed of a plurality of successive sections, with the ideal position target values within a section of the sequence of ideal position target values either increasing monotonically or decreasing monotonically and with a difference between immediately successive ideal position target values changing its sign from one of the plurality of successive sections to a following one of the plurality of the successive sections,receiving from the control facility at a position controller for the at least one position-controlled shaft a sequence of resulting position target values and a corresponding position actual value commensurate with the sequence of ideal position target values, wherein the resulting position target values are obtained by ...

Electronic Stopper in Actuator Control

A system and method of controlling a position of a structure. A position command indicating a desired position for the structure and a position feedback signal indicating the position of the structure are received. A position control signal is generated based on a difference between the desired position and the position indicated by the position feedback signal. A stop feedback signal relative to the position of the structure is received. A stop control signal is generated based on the stop feedback signal and a stop condition for the structure. One of the position control signal and the stop control signal is selected. The selected one of the position control signal and the stop control signal is provided to an actuator for controlling the position of the structure. 1. A method of controlling a position of a structure , comprising:receiving a position command indicating a desired position for the structure;receiving a position feedback signal indicating the position of the structure;generating a position control signal based on a difference between the desired position and the position of the structure indicated by the position feedback signal;receiving a stop feedback signal relative to the position of the structure;generating a stop control signal based on the stop feedback signal and a stop condition for the structure;selecting a selected one of the position control signal and the stop control signal; andproviding the selected one of the position control signal and the stop control signal to an actuator for controlling the position of the structure.2. The method of claim 1 , wherein:the position feedback signal indicates a position of the actuator; andthe stop feedback signal indicates the position of the structure other than by identifying the position of the actuator.3. The method of claim 1 , wherein the stop feedback signal and the stop condition are selected from:the stop feedback signal indicates an angle of the structure and the stop condition indicates a ...

POSITION CONTROL DEVICE AND POSITION CONTROL METHOD

An imaging unit, a control parameter generation unit, a control unit, and a drive unit are provided. The imaging unit captures an image including two objects. The control parameter generation unit feeds information of the captured image including the two objects into an input layer of a neural network, and outputs a position control amount for controlling the positional relation of between the two objects as an output layer of the neural network. The control unit controls current or voltage to control the positional relation between the two objects by using the outputted position control amount. The drive unit changes a position of one of the two objects by using the current or the voltage. Here, the control parameter generation unit selects the neural network from a plurality of neural networks. Therefore, even if there are differences between objects or errors in the positional relationship between the two objects, alignment can be performed more accurately. 18-. (canceled)9. A position control device to install a first object to a second object by causing a drive unit to move the first object , the device comprising:imaging circuitry of a monocular camera to capture an image including two objects that are the first object and the second object; andprocessing circuitry, wherein has an input layer into which information of a plurality of images captured by the imaging circuitry are inputted, and', 'has an output layer in which control amounts obtained on a basis of a learning rule such as a stochastic gradient method are outputted, each of the control amounts for moving the first object, corresponding to each of the plurality of images inputted into the input layer,, 'among a plurality of neural networks, each of which'} compares a control amount outputted in the output layer with a range of control amount set for each of the plurality of neural networks, and', 'selects a neural network having a range of control amount within which the control amount falls, and', ' ...

POSITION DETERMINING METHOD, METHOD FOR ACTUATING AN X-RAY DEVICE AND MEDICAL SYSTEM

Rapid and precise recording of a VOI is provided while monitoring a robot-assisted movement of a medical object through a hollow organ of a patient. For actuating an x-ray device that has a recording system, a user input for the recording of a recording region is accepted. A previously recorded three-dimensional volume image of at least part of the body, in particular of the hollow organ is provided. A length of travel covered by the object from measurement data and/or control data of the robotic system is ascertained. The current position of the object is ascertained on the basis of the three-dimensional volume image making use of the ascertained length of travel covered and a starting position of the object. The recording system of the imaging device is moved for isocentering and/or superimposing the recording region about the current position of the object. An image of the recording region is recorded. 1. A method for determining a current position of an object that has been inserted into a hollow organ of a patient , wherein the object can be moved in a robot-assisted manner by a robotic system , the method comprising:accepting a previously recorded three-dimensional volume image of at least part of the hollow organ,ascertaining a length of travel covered by the object from measurement data and/or control data of the robotic system, anddetermining and/or calculating the current position of the object on the basis of the three-dimensional volume image making use of the ascertained length of travel covered and a starting position of the object.2. The method as claimed in claim 1 , wherein use is made of path planning data that was created previously based on the three-dimensional volume image.3. The method as claimed in claim 2 , wherein the ascertained length of travel covered is combined with a path that was previously planned for the movement of the object in order to determine the current position.4. The method as claimed in claim 1 , wherein the robotic ...

LASER PROCESSING APPARATUS AND METHOD OF CORRECTING CONVERGED SPOT POSITION

A laser processing apparatus includes a laser beam applying mechanism for applying a laser beam to a workpiece held by a holding mechanism while keeping a converged spot of the laser beam in the workpiece, and a temperature detector for detecting a temperature of the holding mechanism or a temperature of an actuator of a moving mechanism that moves the holding mechanism in a processing feed direction. The laser beam applying mechanism has a converged spot position adjusting unit. The controller, depending on a temperature change detected by the temperature detector, controls the converged spot position adjusting unit to establish a position of the converged spot of the laser beam in a thicknesswise direction of the workpiece. 1. A laser processing apparatus comprising:a holding mechanism for holding a workpiece;a laser beam applying mechanism for applying a laser beam to the workpiece held by the holding mechanism while keeping a converged spot of the laser beam in the workpiece;a moving mechanism for moving the holding mechanism in a processing feed direction and an indexing feed direction;a controller for controlling at least the laser beam applying mechanism and the moving mechanism; anda temperature detector for detecting a temperature of the holding mechanism or a temperature of an actuator of the moving mechanism that moves the holding mechanism in the processing feed direction,wherein the laser beam applying mechanism has a converged spot position adjusting unit for adjusting a position of the converged spot of the laser beam in a thicknesswise direction of the workpiece, and controls the converged spot position adjusting unit to establish a position of the converged spot of the laser beam in the thicknesswise direction of the workpiece, and', 'controls the actuator to establish a position of the converged spot of the laser beam in the indexing feed direction, thereby correcting the positions of the converged spot of the laser beam., 'the controller, ...

Portable device for controlling electrical adjustable apparatus

A portable device for controlling an external electrical adjustable apparatus is provided. The portable device comprises a case, a signal transmitter connected to the electrical adjustable apparatus, a tilt sensor sensing a tilted angle, a memory storing a threshold angle and a processor. The processor determines that the electrical adjustable apparatus has collision when receiving a controlling signal used to control the electrical adjustable apparatus and the tilted angle is not less than the threshold angle, and sends a stopping signal to the electrical adjustable apparatus via the signal transmitter for making the electrical adjustable apparatus stop raising/lowering when determining that the electrical adjustable apparatus has collision. This present disclosed example can effectively prevent article placing on the carrying structure from falling and prevent the electrical adjustable apparatus or the obstacle from being damaged by continual stretching/shortening after collision.

BOAT LIFT SYSTEMS AND METHODS

The present invention relates to improved lifts and lift systems, as well as the associated methods of use, for raising and lowering watercraft into and out of water. 1. A boatlift system comprisinga) a controller having an air manifold, a microprocessor having a pressure sensor, and a blower motor that is attached to a first end of a blower hose, wherein the second end of the blower hose is attached to a purge hose, and the microprocessor is attached to a near end of a small air hose that is coupled to the purge hose, and wherein a purge valve is attached to the purge hose between the blower hose and small air hose;b) an input-output mechanism that is able to transmit and receive a signal; andc) a rigid tube that is attached vertically to a boatlift or boatlift frame, wherein the rigid tube has an upper end that is sealed and a lower end that is open, and the rigid tube is coupled to the far end of the small air hose, wherein when the boatlift or boatlift frame is lowered into water the open end of the rigid tube is submerged in the water.2. The boatlift system of claim 1 , wherein the microprocessor sends and receives input from the purge valve.3. The boatlift system of claim 1 , wherein a first electric ball valve is attached to the blower hose.4. The boatlift system of further comprising a passive vent hose that is attached to the air manifold.5. The boatlift system of claim 5 , wherein a manual ball valve is attached to the passive vent hose.6. The boatlift system of further comprising an active vent hose that is attached to the air manifold.7. The boatlift system of claim 7 , wherein a second electric ball valve is attached to the active vent hose.8. The boatlift system of further comprising a large air hose that is attached to the air manifold.9. A method of making a boatlift system comprisinga) constructing a controller having an air manifold, a microprocessor, and a blower motor that is attached to a first end of a blower hose, wherein the second end of the ...

TOILET APPARATUS AND METHOD FOR FLUSHING HUMAN BODY USING SAME

An intelligent toilet apparatus and a method for cleaning human body using the same. The toilet apparatus includes a measurement module configured to perform a three-dimensional measurement of the human body within the toilet seat to obtain a three-dimensional point cloud and establish a three-dimensional model of the human body based on the three-dimensional point cloud; a recognition module configured to recognize certain parts of the human body according to the three-dimensional point cloud and/or the three-dimensional model; and a flushing control module configured to control a flushing execution module to move towards the part that needs to be cleaned according to its spatial position and flush it with water flow. 1. A toilet apparatus , comprising:a toilet seat;a water supply system;at least one flushing module;at least one measurement module; andat least one recognition module;wherein the flushing module comprises at least one flushing execution module and at least one flushing control module;wherein the measurement module is configured to perform a three-dimensional (3D) measurement of a human body within the toilet seat to obtain a 3D point cloud of a surface of the human body within the toilet seat; and the measurement module is configured to establish a 3D model of the human body according to the 3D point cloud;the recognition module is configured to identify certain parts of the human body within the toilet seat according to the 3D point cloud and/or the 3D model of the human body, and calculate a 3D position of each of the certain parts; andthe flushing control module is configured to control the flushing execution module to move towards a part that needs to be cleaned according to its 3D position and flush the part with a flushing water flow.2. The toilet apparatus of claim 1 , wherein the measurement module comprises a measurement control module and a measurement execution module; the measurement control module is configured to control the measurement ...

APPARATUS AND METHOD FOR CONTROLLING REMOTE-CONTROLLED EXCAVATOR FOR PREVENTING OVERLOAD

Disclosed are an apparatus and method for controlling a remote-controlled excavator for preventing overload. The apparatus for controlling a remote-controlled excavator according to an embodiment of the present invention comprises: inertial sensors provided in the excavator; a communication unit for receiving a remote control signal from a remote control apparatus; and a control unit for driving the excavator in response to the remote control signal, wherein the control unit stops driving the excavator when a difference between an expected posture of the excavator estimated on the basis of the remote control signal and an actual posture of the excavator measured by using the inertial sensors exceeds an allowable value. 1. A remote-controlled excavator , comprising:inertial sensors provided in an excavator;a communication unit configured to receive a remote control signal from a remote control device; anda control unit configured to drive the excavator in response to the remote control signal,wherein the control unit stops driving of the excavator when a difference between an expected posture of the excavator estimated based on the remote control signal and an actual posture of the excavator measured using the inertial sensors exceeds an allowable value,wherein the control unit includes:a drive unit configured to output a drive signal to the excavator in response to the remote control signal;a memory configured to store a current posture of the excavator;a posture estimation unit configured to estimate the expected posture based on the current posture and a posture change value corresponding to the remote control signal;a posture measurement unit configured to measure the actual posture based on sensing values; andan overload detection unit configured to output a drive stop signal to the drive unit when the difference between the expected posture and the actual posture exceeds the allowable value,wherein the drive unit blocks the drive signal in response to the drive ...

MOTOR DRIVE DEVICE

A motor drive device () of the present invention includes a command response setting unit (), a position and speed controller (), a load characteristic compensator (), a servo adjuster (), a command response setting function (), a stiffness setting function (), an evaluation indicator measuring function (), and a storage (). The servo adjuster () stores a plurality of command response indicators () and a plurality of stiffness indicators (). The servo adjuster () also generates an evaluation indicator measuring pattern () by a combination of each command response indicator () and each stiffness indicator (). A motor () is driven in accordance with the generated evaluation indicator measuring pattern () while the command response indicators () and the stiffness indicators () are sequentially changed. 1. A motor drive device that drives a motor , the motor drive device comprising:a command response setting unit that receives a position command, performs filter processing of removing a specific frequency band, and transmits a result of the filter processing as a post-filter position command;a position and speed controller that receives the post-filter position command and motor positional information transmitted from an encoder, generates a torque command such that a deviation between the post-filter position command and the motor positional information becomes zero, and transmits the generated torque command;a load characteristic compensator that receives the torque command, multiplies the torque command by inertia estimated values of the motor and a load applied to the motor, adds a friction torque estimated value of the load, generates a post-compensation torque command to drive the motor, and transmits the generated post-compensation torque command;a servo adjuster that stores a plurality of command response indicators and a plurality of stiffness indicators, and generates an evaluation indicator measuring pattern by a combination of each of the command response ...

DISPLAY MOUNT ASSEMBLY

A TV wall mounting device includes a wall mount box with vertical supports, a display mount receiving a TV, and an extending/contracting portion between the box and the display mount. The extending/contracting portion has lower and upper arms rotatably attached to the wall mount with rear axles, a pair of linear actuators rotatably attached to the wall mount, a front portion that rises and lowers with action of the actuators, and a horizontally-swiveling portion that is raised and lowered with the front portion and is capable of rotating right-left with respect to the front portion. The display mount is attached to the horizontally-swiveling portion. Parallel operation of the linear actuators, wherein each actuator extends and retracts while keeping the same length as the other actuator, causes the display mount to go up and down. Differential operation of the actuators causes the display mount to rotate right and left. 1. A mounting device , comprising:a wall mounting portion configured to attach to a wall and comprising vertical support members;a display mounting portion configured to receive a display; andan extending/contracting portion between the wall mounting portion and the display mounting portion;wherein:the extending/contracting portion comprises: a first lower arm having first lower arm rear and front ends; a second lower arm having second lower arm rear and front ends; a first upper arm having first upper arm rear and front ends; a second upper arm having second upper arm rear and front ends; a rear upper axle extending through the vertical support members and rotatably attaching the first upper arm at the first upper arm rear end and the second upper arm at the second upper arm rear end to the wall mounting portion; a rear lower axle parallel to the rear upper axle and extending through the wall mounting portion below the rear upper axle, the rear lower axle rotatably attaching the first lower arm at the first lower arm rear end and the second lower ...

SYSTEMS AND METHODS FOR VARIABLE ALIGNMENT AERODYNAMIC PROBES

A variable alignment aerodynamic probe may comprise a probe body having a leading edge and extending radially into a vane case, a sensor element proximate the leading edge, and a bearing coupled to the probe body and the vane case. The probe body may be configured to rotate in response to a turned flow within the vane case. The rotation of the probe body may be configured to maintain an angle of attack of the leading edge with respect to the turned flow between 0° and 15°. 1. A variable alignment aerodynamic probe comprising:a probe body having a leading edge and extending radially into a vane case;a sensor element proximate the leading edge; anda bearing coupled to the probe body and the vane case;wherein the probe body is configured to rotate in response to a turned flow within the vane case,wherein the rotation of the probe body is configured to maintain an angle of attack of the leading edge with respect to the turned flow between 0° and 15°.2. The variable alignment aerodynamic probe of claim 1 , wherein the sensor element is at least one of a Pitot tube or Kiel probe.3. The variable alignment aerodynamic probe of claim 2 , wherein the probe body further comprises a first shaft coupled to the probe body and rigidly coupled to a first control arm.4. The variable alignment aerodynamic probe of claim 3 , wherein the first control arm is coupled to a first end of a control linkage claim 3 , wherein the control linkage is coupled at a second end to a second control arm.5. The variable alignment aerodynamic probe of claim 4 , wherein the second control arm is rigidly coupled to one of a second shaft or a synchronization ring claim 4 , wherein the second control arm is configured to deflect in response to rotation of a variable vane.6. The variable alignment aerodynamic probe of claim 2 , further comprising:a controller;a first sensor in electronic communication with the controller;a second sensor in electronic communication with the controller;a first servomotor in ...

ROTATION OF AN ARRAY OF DISPENSING PUMPS TO ENABLE SIMULTANEOUS DISPENSING WITH MULTIPLE DISPENSING PUMPS ON MULTIPLE ELECTRONIC SUBSTRATES

A method of dispensing material includes delivering an electronic substrate to a dispense position. The electronic substrate has at least two identical patterns and at least two fiducial marks. The method further includes capturing at least one image of the at least two fiducial marks provided on the electronic substrate, analyzing the at least one image to determine a position of the electronic substrate in X axis, Y axis and theta directions, calculating a rotational angle of the electronic substrate, and rotating a dispensing pump array to match an angle of the electronic substrate. Alternatively, the electronic substrate can be rotated to match an angle of the dispensing pump array. 1. A method of dispensing material comprising:delivering an electronic substrate to a dispense position, the electronic substrate having at least two identical patterns and at least two fiducial marks;capturing at least one image of the at least two fiducial marks provided on the electronic substrate;analyzing the at least one image to determine a position of the electronic substrate in X axis, Y axis and theta directions;calculating a rotational angle of the electronic substrate; androtating a dispensing pump array to match an angle of the electronic substrate.2. The method of claim 1 , further comprising performing a simultaneous dispense operation on the at least two identical patterns with the dispensing pump array.3. The method of claim 2 , wherein the dispensing pump array includes a first dispensing pump and a second dispensing pump claim 2 , the second dispensing pump being spaced from the first dispensing pump a predetermined distance.4. The method of claim 3 , further comprising dispensing material from the first and second dispensing pumps on respective first locations of a first pattern and a second pattern of the at least two identical patterns.5. The method of claim 4 , further comprising simultaneously moving the first dispensing pump over a second location of the ...

SENSOR BASED CLOSED LOOP CONTROL OF ACTIVE AERODYNAMIC ELEMENTS

A method of controlling an active aerodynamic element for a vehicle includes determining a target position for the active aerodynamic element from a target aerodynamic force, which may be a given value that is provided based on dynamic conditions of the vehicle. The method actuates the active aerodynamic element to the target position and senses an aerodynamic response characteristic of the active aerodynamic element while actuated to the target position. An estimated applied aerodynamic force is determined from the aerodynamic response characteristic, and is compared to the target aerodynamic force. A force error is determined from the comparison of the estimated applied aerodynamic force and the target aerodynamic force, and a modified position for the active aerodynamic element is determined from the force error and the target aerodynamic force. The active aerodynamic element is actuated to the modified position. 1. A method of controlling an active aerodynamic element for a vehicle , the method comprising:actuating the active aerodynamic element to a target position, wherein the target position is configured to provide a target aerodynamic force and the target aerodynamic force is provided based on dynamic conditions of the vehicle;sensing an aerodynamic response characteristic of the active aerodynamic element while actuated to the target position;determining an estimated applied aerodynamic force from the aerodynamic response characteristic;comparing the estimated applied aerodynamic force to the target aerodynamic force;determining a force error from the comparison of the estimated applied aerodynamic force and the target aerodynamic force;determining a modified position for the active aerodynamic element from the force error and the target aerodynamic force; andactuating the active aerodynamic element to the modified position.2. The method of claim 1 ,wherein sensing the aerodynamic response characteristic includes sensing an applied force at the active ...

CONTROL DEVICE, CONTROL METHOD, AND MICROSCOPE DEVICE FOR OPERATION

To make it possible to improve user convenience. 1. A control device comprising:a control unit configured to control a position and an attitude of a microscope unit by driving an arm unit that supports the microscope unit on the basis of a captured image of an operating site photographed by the microscope unit during an operation so that a position and attitude condition set before the operation is satisfied,wherein the position and attitude condition is a condition that prescribes a position and an attitude of the microscope unit with respect to the operating site to obtain a desired captured image corresponding to the position and attitude condition.2. The control device according to claim 1 , wherein the position and attitude condition at least includes an instruction regarding an appearance of the image of the operating site.3. The control device according to claim 2 , wherein the instruction regarding the appearance of the image of the operating site includes at least one of details of a position of the operating site in the captured image claim 2 , details of a size of the operating site in the captured image claim 2 , details of a shape of the operating site in the captured image claim 2 , and details of a vertex direction in the captured image.4. The control device according to claim 1 , wherein the position and attitude condition includes at least one of an instruction regarding a photographing direction claim 1 , an instruction regarding a magnification of the captured image claim 1 , an instruction regarding a distance between the microscope unit and a floor claim 1 , and an instruction regarding a distance between the microscope unit and the operating site.5. The control device according to claim 1 , wherein the operating site is an eye.6. The control device according to claim 5 ,wherein the position and attitude condition at least includes an instruction regarding an appearance of an image of the eye, andthe instruction regarding the appearance of the ...

Extended Duration Regenerative Powered Unmanned Aerial Vehicle (UAV) Platform

An unmanned aerial vehicle (UAV) cluster includes a plurality of mission UAVs and a plurality of core UAVs arranged in a cluster. One or more of the mission UAVs is configured for controlled independent flight. The plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster. 1. A self-aligning docking mechanism for an unmanned aerial vehicle (UAV) , the self-aligning docking mechanism comprising:an alignment circuit configured to generate an alignment signal representing a current alignment of the UAV with a proximate UAV responsive to detecting an indicator signal emitted by the proximate UAV;a docking jaw configured to grip a corresponding docking jaw disposed on the proximate UAV; and align the docking jaw with the corresponding docking jaw on the proximate UAV based on the alignment signal; and', 'control the docking jaw to grip the corresponding docking jaw to dock the UAV to the proximate UAV., 'a docking control circuit configured to2. The self-aligning docking mechanism of claim 1 , further comprising an extendable arm configured to releasably attach to a corresponding extendable arm on the proximate UAV.3. The self-aligning docking mechanism of claim 2 , wherein the extendable arm comprises a magnetic component configured to releasably connect to a corresponding magnetic component disposed on the corresponding extendable arm of the proximate UAV.4. The self-aligning docking mechanism of claim 1 , further comprising a servo drive operatively connected to both the docking jaw and the docking control circuit claim 1 , and wherein to align the docking jaw with the corresponding docking jaw claim 1 , the docking control circuit is configured to:determine whether the docking jaw is aligned with the corresponding docking jaw responsive to an analysis of the alignment signal; andsend an alignment message to the servo ...

MOTOR CONTROL APPARATUS, MOTOR CONTROL METHOD, CONTROL SYSTEM, AND POSITION ESTIMATION METHOD TO BE USED IN CONTROL SYSTEM

A motor control device may include a position command output means, a first subtraction means that calculates and outputs a position deviation, a position control means, a second subtraction means that calculates and outputs a position deviation, a speed control means that outputs a torque command, a limiter limits the level of the torque command, a motor drive means, and a voltage fluctuation detection means. When the voltage fluctuation detection means detects that the voltage of said power source has dropped below a predetermined reference level, either the position command output means varies the position command so as to reduce the rotational speed of the motor and/or said position control means limits said speed command to be output. 16-. (canceled)7. A control system comprising:a motor for driving a body to be controlled;a sensor for detecting the position data of said body to be controlled, based on the rotational angle of said motor, at a predetermined cycle;a servo control unit for servo-controlling said motor; anda position control unit for issuing an operation command (a position command) to said servo control unit;wherein said position control unit is equipped with a command generating means for generating an operation command to said servo control unit, a position data storage means for storing said position data obtained from said sensor together with the obtaining time, and a position estimating means for estimating the position of said body to be controlled at an arbitrary time, based on said position data taken at a predetermined cycle; andsaid position estimating means expresses the position f(t) of said body to be controlled at time t by a polynomial based on said position data to estimate the position of said body to be controlled at an arbitrary time through a polynomial interpolation.9. The control system as set forth in wherein said position estimating means estimates the position of said body to be controlled at an arbitrary time using a ...

ATTENTION SHIFTING OF A ROBOT IN A GROUP CONVERSATION USING AUDIO-VISUAL PERCEPTION BASED SPEAKER LOCALIZATION

This disclosure relates to attention shifting of a robot in a group conversation with two or more attendees, wherein at least one of them is a speaker. State of the art has dealt with several aspects of Human-Robot Interaction (HRI) including responding to a source of sound at a time, addressing a fixed viewing area or determining who is the speaker based on eye gaze direction. However, attention shifting to make the conversation human-like is a challenge. The present disclosure uses audio-visual perception for speaker localization. Only qualified direction of arrivals (DOAs) are used for the audio perception. Further the audio perception is complimented by visual perception employing real time face detection and lip movement detection. Use of HRI rules, clustering of the DOAs, dynamic adjustment of rotation of the robot and a dynamically updated knowledge repository enriches the robot with intelligence to shift attention with minimum human intervention. 1. A processor implemented method for shifting attention of a robot characterized by a state representation model , in a group conversation with two or more attendees with at least one of the two or more attendees being a speaker , the method comprising the steps of:estimating, via one or more hardware processors comprised in the state representation model, direction of arrivals (DOAs) of voice activity captured continuously via a microphone array, through sound source localization (SSL) for the robot to respond in real-time, wherein the DOAs are triggered by Voice Activity Detection (VAD) and are estimated based on Time Difference of Arrival (TDOA) associated with the captured voice activity;dynamically qualifying, via the one or more hardware processors, the estimated DOAs to obtain a list of qualified DOAs, thereby enabling audio perception for the robot;generating, via the one or more hardware processors, a set of clusters of qualified DOAs from the list thereof, based on angular distances therebetween; ...

ROBOTIC LASER GUIDED SCANNING SYSTEMS AND METHODS OF SCANNING

A robotic laser guided system for scanning of an object includes a processor configured to define a laser center co-ordinate and a relative width for the object from a first shot of the object; and define an exact position for taking each of the one or more shots after the first shot. The exact position for taking the one or more shots is defined based on the laser center co-ordinate and the relative width. The system includes a feedback module for providing at least one feedback about the exact position for taking the shots; a motion-enabling module comprising at least one wheel for enabling a movement to the exact position for taking the shots one by one based on the feedback; cameras for capturing the shots. The processor may stitch and process the shots to generate at least one 3D model comprising a scanned image of the object. 2. The laser guided scanning system of further comprising a laser light configured to switch from a red color to a green color and vice versa claim 1 , wherein the laser light is further configured to indicate the exact position for taking each of the one or more shots separately by turning to the green color.3. The laser guided scanning system of claim 1 , wherein the one or more cameras takes the one or more shots of the object one by one based on the laser center co-ordinate and a relative width of the first shot.4. The laser guided scanning system of claim 2 , wherein the processor is further configured to define a new position co-ordinate for taking a next shot of the one or more shots based on the laser center co-ordinate and the relative width of the first shot.5. The laser guided scanning system of claim 1 , wherein the object comprises at least one of a symmetrical object and an unsymmetrical object.6. A scanning system for a three dimensional (3D) scanning of an object claim 1 , comprising: define a laser center co-ordinate for the object from a first shot of the object, wherein the object comprising at least one of a ...

A LINEAR CONVEYOR SYSTEM, A CONTROL METHOD FOR A LINEAR CONVEYOR SYSTEM, A CONTROL PROGRAM FOR A LINEAR CONVEYOR SYSTEM AND A RECORDING MEDIUM

A transfer operation of moving the slider between one fixed linear module and a movable linear module while locating the movable linear module in the facing range facing the one fixed linear module is performed. At this time, it is judged whether or not the coordinate axis of the one fixed linear module and the coordinate axis of the movable linear module are continuous If it is judged before the transfer operation that the coordinate axes are not continuous, the transfer operation is performed after the coordinate axes are made continuous in the direction by changing the coordinate axis. Thus, it is possible to suppress the occurrence of a situation where the transfer operation of moving the slider between the fixed linear module and the movable linear module cannot be performed due to the discontinuity of the coordinate axes respectively set for the fixed and movable linear modules. 1. A linear conveyor system , comprising:a slider to be driven in a first direction;a plurality of fixed linear modules arrayed in a second direction intersecting the first direction;a movable linear module moving between a plurality of facing ranges arranged in the second direction while facing toward the plurality of fixed linear modules from the first direction, the movable linear module being configured to drive the slider in the first direction;a slider transfer mechanism configured to convey the movable linear module between the plurality of facing ranges; anda controller configured to set a coordinate axis representing positions in the first direction by coordinate values, the coordinate value changing according to a position change in the first direction, for each of the plurality of fixed linear module and the movable linear module and execute a position control based on the coordinate axes for the slider driven by the fixed linear module and the movable linear module,wherein:the slider is engageable with and disengageable from one end of each of the fixed linear modules and ...

Controller

In a controller of the present invention that controls a drive mechanism driven by a plurality of motors, when a state where the output of the motors is zero shifts to a state where the output is non-zero such that a preload torque is provided by a preload torque superimposition unit, at least one of the motors forms a contact portion between the drive mechanism and the motor by speed control based on a speed detection value detected in a speed detection unit, and in a state where the contact portion is formed, the preload torque is provided by the preload torque superimposition unit.

DEFLECTION AMOUNT CALCULATION DEVICE AND RECORDING MEDIUM ENCODING WITH A PROGRAM

A deflection amount calculation device configured to calculate a deflection amount in a reference direction of a component constituting an industrial machine, the deflection amount calculation device including: a deflection amount acquisition unit configured to acquire, as an actual deflection amount, a measured value of a deviation amount at a predetermined position before and after an actual load is applied to a given position of the component; an ideal deflection amount calculation unit configured to, based on an ideal model of the component, calculate an ideal value of the actual deflection amount as an ideal deflection amount; and a self-weight deflection amount calculation unit configured to, based on the actual deflection amount and the ideal deflection amount, calculate a self-weight deflection amount caused by a self-weight of the component. 1. A deflection amount calculation device configured to calculate a deflection amount in a reference direction of a component constituting an industrial machine , the deflection amount calculation device comprising:a deflection amount acquisition unit configured to acquire, as an actual deflection amount, a measured value of a deviation amount at a predetermined position before and after an actual load is applied to a given position of the component;an ideal deflection amount calculation unit configured to, based on an ideal model of the component, calculate an ideal value of the actual deflection amount as an ideal deflection amount; anda self-weight deflection amount calculation unit configured to, based on the actual deflection amount and the ideal deflection amount, calculate a self-weight deflection amount caused by a self-weight of the component.2. The deflection amount calculation device according to claim 1 , further comprising:a deflection angle calculation unit configured to, based on an ideal model of a support, calculate a deflection angle of the component relative to the reference direction; anda position ...

AERODYNAMIC WING ASSEMBLY

An aerodynamic wing assembly includes a stanchion, a wing and an actuator feature. The stanchion includes an internal passageway. The wing is supported on the stanchion and is displaceable between a home position and a deployed position. The actuator feature functions to displace the wing between the home position and the deployed position while being accommodated in the internal passageway. 1. An aerodynamic wing assembly , comprising:a stanchion including an internal passageway;a wing supported on said stanchion and displaceable between a home position and a deployed position; andan actuator feature displacing said wing between said home position and said deployed position, said actuator feature being accommodated in said internal passageway.2. The aerodynamic wing assembly of claim 1 , wherein said wing includes a first pivot point at said stanchion and a second pivot point at said actuator feature.3. The aerodynamic wing assembly of claim 2 , wherein said first pivot point and said second pivot point are both concealed from view within said internal passageway when said wing is in said home position.4. The aerodynamic wing assembly of claim 3 , wherein said actuator feature is a linear motion mechanism.5. The aerodynamic wing assembly of claim 4 , wherein said linear motion mechanism comprises a cylinder and cooperating actuator rod.6. The aerodynamic wing assembly of claim 4 , wherein said linear motion mechanism comprises a drive motor and a cooperating rack and pinion.7. The aerodynamic wing assembly of claim 4 , wherein said linear motion mechanism comprises a drive screw.8. The aerodynamic wing assembly of claim 7 , wherein said drive screw is connected to a drive motor.9. The aerodynamic wing assembly of claim 3 , wherein said actuator feature is a drive motor and a cooperating cam driven by said drive motor and connected to said wing.10. The aerodynamic wing assembly of claim 2 , wherein said first pivot point includes a first lug carried on said wing and ...

ADJUSTABLE SPOILER FOR VEHICLE AND METHOD FOR CONTROLLING THE SAME

An adjustable spoiler for a vehicle includes a pressure sensor sensing a pressure applied to an upper side of a spoiler and generating a current signal in proportion to the pressure. An electronic control unit (ECU) is configured to control an angle of a spoiler according to the current signal from the pressure sensor. The spoiler is mounted on the upper side of a vehicle body 1. A adjustable spoiler for a vehicle , comprising:a pressure sensor sensing a pressure applied to an upper side of the adjustable spoiler and generating a current signal in proportion to the pressure; andan electronic control unit (ECU) configured to control an angle of the adjustable spoiler according to the current signal,wherein the adjustable spoiler is mounted on the upper side of a vehicle body.2. The adjustable spoiler of claim 1 , wherein the pressure sensor includes a plurality of piezoelectric elements arranged on the upper side of the adjustable spoiler claim 1 , and each of the plurality of piezoelectric elements generates a current in proportion to the pressure while the vehicle runs.3. The adjustable spoiler of claim 1 , wherein when the current signal is input from the pressure sensor claim 1 , the ECU controls the angle of the adjustable spoiler by operating an actuator which adjusts the angle of the adjustable spoiler according to the current signal.4. The adjustable spoiler of claim 1 , wherein when the current signal is input from the pressure sensor claim 1 , the ECU compares a value of the current signal with a standard lift value in real time claim 1 , and when the current signal value is greater than the standard lift value claim 1 , the ECU increases the angle of the adjustable spoiler.5. The adjustable spoiler of claim 1 , wherein when the current signal is input from the pressure sensor claim 1 , the ECU compares a value of the current signal with a standard lift value in real time claim 1 , and when the current signal value is smaller than the standard lift value ...

ELECTRIC MACHINE AND DISPLAY METHOD

An electric machine according to the embodiment includes: a motor; a current controller supplying a current to the motor; a detector detecting a position, a speed, or an acceleration of a shaft of the motor; a controller calculating a torque parameter indicating a torque of the motor based on a current instruction that specifies a supply current to the motor and calculating a speed parameter indicating a rotational speed of the shaft of the motor based on a detection result from the detector; and a display part displaying a graph showing a relation between the torque parameter and the speed parameter.

GIMBAL CONTROL METHOD, GIMBAL AND GIMBAL CONTROL SYSTEM

A gimbal control method includes obtaining a speed of a mouse; and controlling an attitude of a gimbal according to the speed of the mouse. 1. A gimbal control method comprising:obtaining a speed of a mouse; andcontrolling an attitude of a gimbal according to the speed of the mouse.2. The method according to claim 1 , wherein controlling the attitude of the gimbal according to the speed of the mouse includes:determining a target speed of the gimbal according to the speed of the mouse; anddetermining a target attitude of the gimbal according to the target speed of the gimbal.3. The method according to claim 2 , wherein determining the target speed of the gimbal according to the speed of the mouse includes:converting the speed of the mouse to the target speed of the gimbal according a pre-configured strategy.4. The method according to claim 3 , wherein converting the speed of the mouse to the target speed of the gimbal according the pre-configured strategy includes:converting the speed of the mouse to the target speed of the gimbal according to a pre-configured linear mapping relationship or a pre-configured curved mapping relationship between the speed of the mouse and the target speed of the gimbal.5. The method according to claim 2 , wherein determining the target attitude of the gimbal according to the target speed of the gimbal includes:performing integration processing on the target speed of the gimbal to obtain the target attitude of the gimbal.6. The method according to claim 2 , wherein:the gimbal includes a yaw-axis electric motor and a pitch-axis electric motor; anddetermining the target speed of the gimbal according to the speed of the mouse includes determining a speed of the yaw-axis electric motor and a speed of the pitch-axis electric motor according to the speed of the mouse.7. The method according to claim 6 , wherein determining the speed of the yaw-axis electric motor and the speed of the pitch-axis electric motor according to the speed of the ...

GIMBAL ROTATION CONTROL METHOD AND APPARATUS, CONTROL DEVICE, AND MOVABLE PLATFORM

A method for controlling a gimbal to rotate is provided. The method includes obtaining an attitude angle of the gimbal and an attitude angle of a base coupled to the gimbal in response to a trigger signal, and controlling the gimbal to rotate based on the attitude angle of the base and the attitude angle of the gimbal, such that the gimbal follows the base to rotate. 1. A method for controlling a gimbal comprising:in response to a trigger signal, obtaining an attitude angle of the gimbal and an attitude angle of a base coupled to the gimbal; andcontrolling the gimbal to rotate based on the attitude angle of the base and the attitude angle of the gimbal, such that the gimbal follows the base to rotate.2. The method according to claim 1 , wherein controlling the gimbal to rotate based on the attitude angle of the base and the attitude angle of the gimbal includes:calculating follow information based on the attitude angle of the base and the attitude angle of the gimbal; andcontrolling the gimbal to rotate based on the follow information.3. The method according to claim 2 , wherein calculating the follow information based on the attitude angle of the base and the attitude angle of the gimbal includes:calculating an angle change value between the attitude angle of the base and the attitude angle of the gimbal; andcalculating the follow information based on the angle change value.4. The method according to claim 3 , wherein calculating the follow information based on the angle change value includes:performing a correction process on the follow information to obtain corrected follow information.5. The method according to claim 4 , wherein performing the correction process on the follow information to obtain the corrected follow information includes:performing a calculation on the angle change value and a rotation velocity threshold based on an error quadratic curve calculation rule using a pre-configured proportional coefficient to obtain the corrected follow information. ...

HANDHELD GIMBAL CONTROL METHOD, HANDHELD GIMBAL, AND HANDHELD DEVICE

A handheld gimbal includes a handheld part and a gimbal. The handheld part is configured with a human-machine interface component. The gimbal is mounted at the handheld part and configured to mount a camera device to photograph a target object. The human-machine interface component includes a display screen and a processor. The display screen is configured to display a photographing image captured by the camera device. The photographing image includes an image of the target object. The processor is configured to automatically recognize the target object, obtain a motion instruction of controlling a motion of the gimbal according to a motion status of the image of the target object, and control the motion of the gimbal according to the motion instruction. 1. A handheld gimbal comprising:a handheld part configured with a human-machine interface component; anda gimbal mounted at the handheld part and configured to mount a camera device to photograph a target object; a display screen configured to display a photographing image captured by the camera device, the photographing image including an image of the target object; and', automatically recognize the target object;', 'obtain a motion instruction of controlling a motion of the gimbal according to a motion status of the image of the target object; and', 'control the motion of the gimbal according to the motion instruction., 'a processor configured to], 'wherein the human-machine interface component includes2. The handheld gimbal of claim 1 , wherein the processor is further configured to:when the target object moves, control the gimbal to drive the camera device to move to cause the target object to be at a center of the photographing image.3. The handheld gimbal of claim 1 , wherein the gimbal includes:a first axial assembly mounted at the handheld part;a second axial assembly connected to the first axial assembly and a third axial assembly; andthe third axial assembly configured to mount the camera device.4. The ...

UNMANNED AERIAL VEHICLE CONTROL METHOD, UNMANNED AERIAL VEHICLE CONTROL DEVICE, AND COMPUTER READABLE STORAGE MEDIUM

The present disclosure provides a control method of a UAV, a control device of a UAV, and a computer-readable storage medium, and relates to the technical field of UAVs. The control method of a UAV includes: determining a deviation between a vertical mapping point on the ground and a landing point of the UAV, the deviation comprising a deviation in a horizontal axis direction of a camera coordinate system and a deviation in a vertical axis direction of the camera coordinate system; and generating speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction. 1. A control method of an unmanned aerial vehicle (UAV) , comprising:determining a deviation between a vertical mapping point on the ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system; andgenerating speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction.2. (canceled)3. The control method of a UAV according to claim 1 , wherein determining a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing ...

PHYSICAL MOVEMENT SIMULATION ON A DISPLAY DEVICE

A computer-implemented method includes: displaying, by a computer device, video content on a display of the computer device; determining, by the computer device, a moving object in the video content; and controlling, by the computer device, a plurality of microbots to move, on the display, over locations of the object in the video content. 1. A method , comprising:displaying, by a computer device, video content on a display of the computer device; andcontrolling, by the computer device, a plurality of microbots to move, on the display, over locations of a moving object in the video content.2. The method of claim 1 , further comprising controlling each of the plurality of microbots to display a portion of the moving object.3. The method of claim 1 , further comprising determining the moving object based on obtaining metadata that defines the moving object.4. The method of claim 1 , further comprising determining the moving object based on analyzing the video content using computer vision based object detection.5. The method of claim 4 , wherein the determining the moving object comprises:determining plural moving objects in the video content; andselecting the moving object from the plural moving objects based on predefined criteria.6. The method of claim 1 , wherein the controlling the plurality of microbots to move comprises transmitting a control signal to each one of the plurality of microbots.7. The method of claim 6 , wherein the control signal transmitted to a respective one of the plurality of microbots includes a direction of movement and a speed for the respective one of the plurality of microbots to move relative to the display.8. The method of claim 1 , wherein:the controlling the plurality of microbots to move comprises transmitting a control signal to at least one of the plurality of microbots;the control signal includes data that defines an area on the display; andthe control signal includes an instruction that causes the plurality of microbots to self- ...

METHOD AND APPARATUS FOR TREATING SUBSTRATE

A substrate treating method includes moving a first component of a substrate treatment device to a preset position in response to a treating process of the substrate treatment device, detecting, by a plurality of position detection sensors, a position of the first component, vision-testing, by a vision sensor, a positional state of the first component, and determining an operational state of an error in the detection of the plurality of position detection sensors or a malfunction of the substrate treatment device based on a detection result obtained by the plurality of position detection sensor and a test result obtained by the vision sensor. 1. A substrate treating method comprising:moving a first component of a substrate treatment device to a preset position in response to a treating process of the substrate treatment device;detecting, by a plurality of position detection sensors, a position of the first component;vision-testing, by a vision sensor, a positional state of the first component; anddetermining an operational state of an error in the detection of the plurality of position detection sensors or a malfunction of the substrate treatment device based on a detection result obtained by the plurality of position detection sensor and a test result obtained by the vision sensor.2. The substrate treating method of claim 1 ,wherein the detecting by the plurality of position detection sensors is performed by detecting the position of the first component by the plurality of position detection sensors arranged for the preset position, andwherein the vision-testing is performed by comparing pre-stored normal state information for the preset position to an image of the first component captured by the vision sensor and determining the positional state of the first component.3. The substrate treating method of claim 2 ,wherein the first component is a treating container,wherein the detecting by the plurality of position detection sensors is performed by detecting a ...

Gimbal control method, gimbal, mobile platform and computer-readable storage medium

A gimbal control method, including: upon detecting that a gimbal including a rotation shaft structure enters a storage mode, rotating the rotation shaft structure to a set position to make the gimbal satisfy a preset storage form; and controlling the rotation shaft structure to remain at the set position for a preset duration.

STEERING SYSTEM

A steering system configured to steer a vehicle includes a rotary shaft to which an operation member is coupled; a moving unit configured to move the operation member between a normal position that is a position where the operation member is operated by a driver, and a storage area located ahead of the normal position; an external force detection unit configured to detect an external force externally applied to the operation member while the operation member is moving; a determination unit configured to determine whether a direction of the external force detected by the external force detection unit is the same as a moving direction of the operation member; and a control unit configured to control operation of the steering system based on a determination result from the determination unit. 1. A steering system configured to steer a vehicle , the steering system comprising:a rotary shaft to which an operation member is coupled;a moving unit configured to move the operation member between a normal position that is a position where the operation member is operated by a driver, and a storage area located ahead of the normal position;an external force detection unit configured to detect an external force externally applied to the operation member while the operation member is moving;a determination unit configured to determine whether a direction of the external force detected by the external force detection unit is the same as a moving direction of the operation member; anda control unit configured to control operation of the steering system based on a determination result from the determination unit.2. The steering system according to claim 1 , wherein the control unit is configured to control the operation of the steering system by controlling a movement of the operation member based on the determination result from the determination unit.3. The steering system according to claim 2 , wherein the control unit is configured to control the operation of the steering ...

METHOD AND APPARATUS FOR PLANNING AN OBSTACLE-FREE MEASUREMENT TRAJECTORY OF A COORDINATE MEASURING MACHINE, AND COMPUTER PROGRAM

A method and an apparatus for planning an obstacle-free measurement trajectory of a coordinate measuring machine, and a computer program are provided. An original measurement trajectory is determined, all compact obstacles along the original measurement trajectory are determined, an obstacle entrance pose on the original measurement trajectory and an obstacle exit pose on the original measurement trajectory are determined for each compact obstacle, and at least one obstacle-free alternative measurement trajectory is determined for each compact obstacle.

POSITION CONTROLLER

A position controller includes: an oil temperature acquisition unit that acquires information on an oil temperature of a hydraulic actuator; a position acquisition unit that acquires an actual value of an operation position of an object; a position control unit that calculates an operation command value for a control valve of the hydraulic actuator by closed-loop control so as to reduce a deviation between a target value of the operation position of the object and the actual value; and a gain setting unit that changes at least one gain of the closed-loop control so that sensitivity of the closed-loop control increases as the oil temperature decreases. 1. A position controller that performs position control by outputting a drive signal to a control valve of a hydraulic actuator that changes an operation position of an object , the position controller comprising:an oil temperature acquisition unit that acquires information on an oil temperature of the hydraulic actuator;a position acquisition unit that acquires an actual value of an operation position of the object;a position control unit that calculates an operation command value for the control valve by closed-loop control so as to reduce a deviation between a target value of the operation position of the object and the actual value; anda gain setting unit that changes at least one gain of the closed-loop control so that sensitivity of the closed-loop control increases as the oil temperature decreases,wherein the at least one gain includes a first gain used to obtain the operation command value from the deviation,wherein the gain setting unit increases the first gain as the oil temperature decreases, andwherein the first gain is a calculation gain of the position control unit.2. (canceled)3. (canceled)4. The position controller according to claim 1 , further comprising a position subtraction unit that obtains the deviation claim 1 ,wherein the at least one gain includes a second gain used to obtain the actual value ...

COOPERATIVE CONTROL DEVICE, COOPERATIVE CONTROL METHOD, AND RECORDING MEDIUM HAVING COOPERATIVE CONTROL PROGRAM STORED THEREIN

A cooperative control device is provided in which position information on a node () of the device and a facing node () are acquired by a device node position information acquisition unit () and a facing node position information acquisition unit (). The position information is used to calculate a position-information-based target angle of a first orientation means () by a position-information-based orientation angle generator (). The position-information-based target angle is converted, by applying kinematics, to a kinematics-used target angle of the first orientation means by the converter (). Subsequently, the position-information-based target angle of the first orientation means () is subtracted from the kinematics-used target angle to obtain a target error angle, and the target error angle is then integrated by an integrator (). The integrated target error angle is added to the position-information-based target angle of the first orientation means () by an adder () to output a target angle of the first orientation means () for cooperative control, the target angle being capable of removing an orientation angle error of a second orientation means (). This operation ensures that the orientation angle of the first orientation means can reach the target angle of the first orientation means, and the orientation angle error of the second orientation means can be canceled. 1. A cooperative control device that cooperatively controls two orientation unit of a first orientation unit and a second orientation unit included as orientation unit used for receiving optical signals from a facing node , the cooperative control device comprising:a position information acquisition unit for acquiring position information on a node of the device and the facing node, or both of the position information and attitude information on the node and the facing node;an orientation angle generation unit for calculating a position-information-based target angle of the first orientation unit ...

Actuator Device And Method For Compensating For A Stray Magnetic Field In The Case Of An Actuator Device

An electromagnetic actuator device includes an actuator having an actuator coil and a tappet that can be moved in and against a longitudinal direction. The actuator device includes a sensor device having a transmitter element arranged on the tappet and a sensor element for generating a measurement signal, containing information about a current actual position of the tappet, depending on a magnetic field generated by the transmitter element. The actuator device includes a control unit with a controller, which applies a control voltage to the actuator coil for generating an electromagnetic field during operation in dependence on a position signal based on the measurement signal, so that the tappet moves into a target position. During operation, a stray magnetic field is generated by the at actuator coil, an adaptation of the measurement signal is performed to compensate for the influence on the measurement signal caused by the stray field. 1. An electromagnetic actuator device comprising:an actuator with at least one actuator coil for generating at least one electromagnetic field and with a tappet movable in and against a longitudinal direction in dependence on the at least one generated electromagnetic field;a sensor device comprising a transmitter element and a sensor element, the transmitter element arranged on the tappet, the sensor element designed to generate a measurement signal, which contains information about a current actual position of the tappet along the longitudinal direction, in dependence on a magnetic field generated by the transmitter element; anda control unit with a controller, which is set up so as to apply a control voltage to the at least one actuator coil for generating the at least one electromagnetic field during operation in dependence on a position signal on the basis of the measurement signal, so that the tappet moves from the current actual position into a target position,wherein during operation, a stray magnetic field, which influences ...

DRIVING APPARATUS OF SIDE MIRROR, VEHICLE HAVING THE SIDE MIRROR AND METHOD FOR CONTROLLING THE SAME

A vehicle may include a side mirror including a housing and a mirror member provided inside the housing and rotatable in a first axis and a second axis in the housing; an input unit configured to receive an identification information related to a driver; a driving apparatus configured to identify a target position corresponding to the identification information related to the driver, acquire a plurality of paths for moving the mirror member between the identified target position and the current position, identify each of positions for switching the movement direction of the acquired plurality of paths, select a path having positions for switching the movement direction closest to a predetermined center position among the respective positions for switching the movement direction thereof, and selectively control rotation of the first axis and rotation of the second axis of the mirror member based on the selected path. 1. A driving apparatus of a side minor , the apparatus comprising:a minor member mounted inside a housing and selectively movable in the housing;a first driving unit connected to the mirror member;a second driving unit connected to the minor member; anda controller configured to acquire a plurality of paths for moving the minor member from a current position of the mirror member to a target position, identify each of positions for switching a movement direction of the acquired plurality of paths, select a path having positions for switching the movement direction closest to a predetermined center position among respective positions for switching the movement direction, and selectively control driving of the first driving unit and the second driving unit based on the selected path,wherein the first driving unit connected to the mirror member is configured to move the minor member with respect to a first axis in a response to a control command of the controller; andwherein the second driving unit connected to the mirror member is configured to move the ...

SYSTEM AND METHOD FOR SYNCHRONOUS MOTION OPTIMIZATION OF DEVICE WITH MOVING COMPONENTS

Systems and methods for synchronous motion optimization of device of moving components are provided. The methods may include obtaining positions of multiple components of a system; determining, based on the positions, a velocity of each component at each position; determining, based on the velocity of each component, a minimum duration for each component to traverse each segment between two sequential positions; determining, based on the minimum duration for each component to traverse each segment, an optimized duration corresponding to each segment; and determining, based on the optimized duration corresponding to each segment, motion parameters of each component in each segment, the motion parameters of each component in each segment forming the control plan of the system. 1. A method implemented on at least one computing device , each of which has at least one processor and storage , the method comprising:obtaining a plurality of sets of positions of multiple components of an apparatus, each set of positions of the multiple components corresponding to a control node, and two sequential controls defining a segment;determining, based on the plurality of sets of positions of the multiple components, a velocity of each component at each control node;determining, based on the velocity of each component at each control node, a minimum duration for each component to traverse each segment of at least one segment;determining, based on the minimum duration for each component to traverse each segment of the at least one segment, an optimized duration corresponding to each segment; anddetermining, based on the optimized duration corresponding to each segment, motion parameters of each component in each segment.2. The method of claim 1 , the motion parameters being such that the multiple components moving according to the motion parameters arrive at positions defined by a control node at a same time.3. The method of claim 1 , the apparatus including a radiotherapy device ...

Control device for a hydraulic cylinder unit having optimized linearization

A controller ( 15 ) which receives a target value (g*) related to a piston ( 3 ) of the hydraulic cylinder unit ( 1 ) and an actual value (g) related to the piston ( 3 ) of the hydraulic cylinder unit ( 1 ). On the basis of the difference (δ g ) of the values, the controller determines a provisional manipulated variable (u′). A linearization unit ( 17 ) downstream of the controller ( 15 ) multiplies the provisional manipulated variable (u′) by a linearization factor (F) and outputs the product to a valve control unit ( 7 ) as a final manipulated variable (u) such that the actual value (g) is brought toward the target (g*) at an adjustment speed. On the basis of working pressures (pA, pB) on both sides of the piston ( 3 ) and/or working pressures (pP, pT) on the feed side and on the outflow side of the valve control unit ( 7 ) and a target piston force (FKL) to be applied by the piston ( 3 ), the linearization unit ( 17 ) determines target values (pA*, pB*) for the working pressures (pA, pB). The linearization unit determines the linearization factor (F) dynamically as a function of an actual position(s) of the piston ( 3 ), the target values (pA*, pB*), and the working pressures (pP, pT) on the feed side and on the outflow side of the valve control unit ( 7 ).

PARAMETER DETERMINATION SUPPORT DEVICE, PARAMETER DETERMINATION SUPPORTING METHOD, AND PROGRAM

The determination of a slip constant is simplified upon driving a motor for which the slip constant is unknown, based on variation of acceleration when accelerating an induction motor from start up to a predetermined speed. A parameter determination support device for motor driving includes: an automatic measurement part which automatically measures characteristic information including a speed during acceleration and acceleration upon driving an induction motor to accelerate from start up to a predetermined speed set in advance which is no more than a base speed of the induction motor, relative to each slip constant, based on a plurality of slip constants set in advance; and an estimation part which estimates, as a slip constant of the induction motor, a slip constant having the smallest variation in acceleration, among a plurality of slip constants, based on the characteristic information. 1. A parameter determination support device for supporting determination of a control parameter of an induction motor , the parameter determination support device comprising:an automatic measurement means for automatically measuring characteristic information including speed during acceleration and acceleration upon driving the induction motor to accelerate from start up to a predetermined speed set in advance which is no more than a base speed of the induction motor, relative each slip constant, based on a plurality of slip constants set in advance; andan estimation means for estimating, as a slip constant of the induction motor, a slip constant having the smallest variation in the acceleration, among the plurality of slip constants, based on the characteristic information.2. The parameter determination support device according to claim 1 ,wherein the estimation means further makes a linear approximation of a variable relative to the speed of the acceleration in a predetermined speed range which is no more than the base speed for each slip constant, and estimates, as a slip ...

AGENT-BASED CARGO HANDLING SYSTEM

A power drive unit (PDU) for moving cargo within an aircraft includes an actuator configured to move a unit load device (ULD) relative to the PDU. The PDU also includes a network access device configured to receive a second PDU state corresponding to a second PDU, and to transmit data. The PDU also includes a controller configured to determine a current state of the PDU based on sensor data corresponding to presence of the ULD above the PDU and the second PDU state, and to control the actuator based on the current state of the PDU. 1. A power drive unit (PDU) for moving cargo within an aircraft , comprising:an actuator configured to move a unit load device (ULD) relative to the PDU;a network access device configured to receive a second PDU state corresponding to a second PDU, and to transmit data; anda controller configured to determine a current state of the PDU based on sensor data corresponding to presence of the ULD above the PDU and the second PDU state, and to control the actuator based on the current state of the PDU.2. The PDU of claim 1 , wherein the controller is further configured to transmit the current state of the PDU to the second PDU via the network access device.3. The PDU of claim 1 , wherein the controller is configured to determine that the current state of the PDU is a covered state in response to the ULD being detected above the PDU claim 1 , and to determine that the current state of the PDU is an uncovered state in response to a lack of detection of the ULD above the PDU.4. The PDU of claim 3 , wherein:the covered state includes at least one of a covered idle state in which the actuator is idle, a driving state in which the actuator is moving the ULD relative to the PDU, or a parked state in which the actuator is fixed in a fixed position; andthe uncovered state includes at least one of a leading state indicating that the ULD is progressing towards the PDU, a lagging state indicating that the ULD is progressing away from the PDU, or an ...

Position control apparatus and method

A new position control apparatus is provided which can reduce deviation caused by a non-linear spring characteristic of a rolling apparatus. In a position control apparatus ( 5 ) that controls the position of a movable body ( 1 ), in a positioning apparatus ( 9 ) including a rolling apparatus ( 2 ), a deviation e(t) or d of the movable body 1 caused by the non-linear spring characteristic of the rolling apparatus ( 2 ) is subtracted from or added to a position command Xref or r of the movable body ( 1 ). The deviation d is calculated by carrying out equivalent exchange on a control circuit for a friction force of the rolling apparatus ( 2 ), which is set as a quantity of the dimension of displacement.

ROBOT NAVIGATION AND OBJECT TRACKING

A system and method of tracking an object and navigating an object tracking robot includes receiving tracking sensor input representing the object and an environment at multiple times, responsive to the tracking sensor input, calculating positions of the robot and the object at the multiple times, and using a computer implemented deep reinforcement learning (DRL) network trained as a function of tracking quality rewards and robot navigation path quality rewards, the DRL network being responsive to the calculated positions of the robot and the object at the multiple times to determine possible actions specifying movement of the object tracking robot from a current position of the robot and target, determine quality values (Q-values) for the possible actions, and select an action as a function of the Q-values. A method of training the DRL network is also included. 1. A method of tracking an object and navigating an object tracking robot , the method comprising:receiving tracking sensor input representing the object and an environment at multiple times;responsive to the tracking sensor input, calculating positions of the robot and the object at the multiple times; and determine possible actions specifying movement of the object tracking robot from a current position of the robot and target;', 'determine quality values (Q-values) for the possible actions; and', 'select an action as a function of the Q-values., 'using a computer implemented deep reinforcement learning (DRL) network trained as a function of tracking quality rewards and robot navigation path quality rewards, the DRL network being responsive to the calculated positions of the robot and the object at the multiple times to2. The method of wherein the tracking quality rewards are a function of a size of the object observed divided by the size of the object and a distance of the object from the object tracking robot.4. The method of wherein the robot navigation path quality rewards claim 1 , r claim 1 , are ...

MOTOR CONTROLLER

When a butting control is performed at a low temperature at which an oil temperature of an automatic transmission is equal to or lower than a predetermined value, a driving condition changing process is performed. In the driving condition changing process, an execution period from a starting of the butting control to an ending of the butting control is divided into a plurality of sections on the basis of a rotation angle of a motor. By making a torque of the motor greater and a rotation speed higher in a starting-section than in an ending-section, the execution period of the butting control is made short. By making the torque of the motor smaller and the rotation speed lower in the ending-section than in the starting-section, an amount of deformation of a component is made smaller when a part of a component is butted against a limit position so that a reference position can be learned accurately. 1. A motor controller comprising:a motor that functions as a driving source for a control target;an encoder that outputs a pulse signal in synchronism with rotation of the motor;a controlling unit that rotationally drives the motor to a target position while sequentially changing energization phases of the motor, based on a count value of the output signal of the encoder, the controlling unit learning a reference position by executing a butting control in which the motor is made to rotate until butting a limit position of a movable range of the control target;a temperature information obtaining unit that obtains a temperature, as temperature information, of the control target or obtains a temperature in correlation with the temperature of the control target; anda changing unit that performs a driving condition changing process when the butting control is performed at a low temperature at which the temperature information is not greater than a predetermined value,wherein:an execution period from a starting of the butting control to an ending of the butting control is divided ...

TRACK SYNCHRONIZATION MOVING APPARATUS OF WELLBORE INSPECTION SYSTEM AND CONTROL METHOD THEREOF

Disclosed are a synchronous movement apparatus of tracks in a wellbore inspection system and a control method thereof. The synchronous movement apparatus includes an upper moving track, a lower moving track, an upper wire rope moving device, a lower wire rope moving device, and a control device; the upper moving track and the lower moving track are correspondingly embedded into an inner wall of a wellbore, and the upper moving track is located above the lower moving track; the upper wire rope moving device is fitted in the upper moving track, and the lower wire rope moving device is fitted in the lower moving track; the upper moving track and the lower moving track have the same structure and each include a track body. A rolling face is arranged on the track body, and grooves are evenly distributed on the rolling face along the extending direction of the track body. 1. A synchronous movement apparatus of tracks in a wellbore inspection system , comprising: an upper moving track , a lower moving track , an upper wire rope moving device , a lower wire rope moving device , and a control device , wherein the upper moving track and the lower moving track are correspondingly embedded into an inner wall of a wellbore , and the upper moving track is located above the lower moving track; and the upper wire rope moving device is fitted in the upper moving track , and the lower wire rope moving device is fitted in the lower moving track; whereinthe upper wire rope moving device and the lower wire rope moving device have the same structure and each comprise a housing, a drive motor, and a plurality of moving rollers;a wire rope locking mechanism capable of clamping a wire rope is arranged on the housing;the moving rollers comprise a driving roller and one or more driven roller;each moving roller is positioned and supported by a roller shaft, and each roller shaft is mounted in the housing through a bearing; a base of the drive motor is fixedly mounted on the housing, and a ...

SEMICONDUCTOR DEVICE, WIPER SYSTEM, AND MOVING BODY CONTROL METHOD

The present disclosure provides a semiconductor device including: an abnormality detection section that detects an abnormality occurring in a moving body that moves along a specific path on a surface of a specific object; a position detection section that detects a position of the moving body as an abnormality occurrence position, in a case in which the abnormality detection section has detected an abnormality, and that stores abnormality occurrence position information expressing the abnormality occurrence position in a storage section; and a moving body controller that controls an adjusting section to adjust at least one of a force with which the moving body presses against the specific object, or a position of the moving body in a direction intersecting the surface of the specific object, based on a detection result detected by the abnormality detection section and the abnormality occurrence position information. 1. A semiconductor device comprising:an abnormality detection section that detects an abnormality occurring Lou moving body that moves along a specific path on a surface of a specific object;a position detection section that detects a position of the moving body as an abnormality occurrence position, in a case in which the abnormality detection section has detected an abnormality, and that stores abnormality occurrence position information expressing the abnormality occurrence position in a storage section; anda moving body controller that controls an adjusting section to adjust at least one of a force with which the moving body presses against the specific object, or a position of the moving body in a direction intersecting the surface of the specific object, based on the abnormality occurrence position information.2. The semiconductor device of claim wherein:in cases in which the moving body controller controls the force with which the moving body presses against the specific object at the abnormality occurrence position, the moving body controller ...

Vehicle lift and storage system utilizing a multi-axis accelerometer

A vehicle lift and storage system (VLSS) can comprise a platform that can be moved between a plurality of positions by one or more moving mechanisms. The platform can be equipped with a wireless, multi-axis accelerometer that transmits data regarding the platform to a control system of the VLSS via a wireless sensor link. Using the data from the multi-axis accelerometer, the control system can generate control signals to control the one or more moving mechanisms. The control system can also detect the occurrence of a safety event based on the data received from the multi-axis accelerometer. In response to detecting a safety event, the control system can cause the one or more moving mechanisms to enter a safety mode to alleviate or respond to the detected safety event.

Connected vehicle lift and storage system

A connected vehicle lift and storage system (VLSS) can include a plurality of platforms for storing vehicles that are movable between a plurality of positions. The connected VLSS can communicate with a computing device operated by a user to receive requests to store or retrieve the user's vehicle(s). As part of the request, location data generated by the computing device can be transmitted to the connected VLSS. In response to the request, the connected VLSS can determine a sequence of platform movements to fulfill the request to store or retrieve the user's vehicle(s). The sequence can be determined, at least in part, on the location data of the requesting user and/or the location data of other users. In addition, the sequence can be determined to minimize wait times for the requesting user and other users.

NETWORK SYSTEM FOR MANAGING VEHICLE LIFT AND STORAGE SYSTEMS

A network system can provide a network service to manage a plurality of vehicle lift and storage systems (VLSS's). The network system can receive requests from users to store or retrieve their vehicles. In response to a user's request to store a vehicle, the network system can determine a dynamic storage assignment for the user's vehicle at one of the plurality of VLSS's managed by the network service. The dynamic storage assignment can be determined based, at least in part, on location information included in the request. The dynamic storage assignment can also be determined based on up-to-date availability information for each of the plurality of VLSS's managed by the network service. In addition, the network system can maintain user profiles for each user of the network service and can process financial transactions for users for use of the VLSS's. 1. A network system for managing a plurality of vehicle lift and storage systems , comprising:one or more processors;a network interface for communicating over one or more networks; maintain, by receiving data from each of the plurality of vehicle lift and storage systems, dynamic availability information for the plurality of vehicle lift and storage systems;', 'receive, over the network from a user device of a user, a request for vehicle storage, the request including location information of the user and identification information of the user; and', "in response to receiving the request, determine a dynamic storage assignment for the user's vehicle by selecting one of the plurality of vehicle lift and storage systems for the user's vehicle based on the location information of the user and the dynamic availability information for the plurality of vehicle lift and storage systems."], 'one or more memory resources storing instructions that, when executed by the one or more processors of the network system, cause the network system to2. The network system of claim 1 , wherein the executed instructions further cause the ...

FEEDBACK CONTROL SYSTEM HAVING SERVOMECHANISM MONITORING SYSTEM AND METHODS OF MONITORING SERVOMECHANISMS

A feedback control system includes at least one servo unit controlling operation of a motor, wherein the at least one servo unit is configured to acquire operational data with respect to controlling the operation of the motor. The feedback control system also includes a programmable logic controller communicatively coupled to the at least one servo unit, wherein the programmable logic controller is configured to receive the operational data from the at least one servo unit and output real-time data corresponding to the operational data. 1. A feedback control system comprising:at least one servo unit controlling operation of a motor, the at least one servo unit configured to acquire operational data with respect to controlling the operation of the motor; anda programmable logic controller communicatively coupled to the at least one servo unit, the programmable logic controller configured to receive the operational data from the at least one servo unit and output real-time data corresponding to the operational data.2. The feedback control system of claim 1 , wherein the programmable logic controller is configured to control operation of the at least one servo unit.3. The feedback control system of claim 1 , wherein the programmable logic controller is configured to generate a notification when the operational data indicates an exceedance of a threshold value.4. The feedback control system of claim 3 , wherein the programmable logic controller receives a user input reference value for setting the threshold value.5. The feedback control system of claim 3 , wherein the programmable logic controller automatically sets the threshold value based on an operating profile stored in the programmable logic controller.6. The feedback control system of claim 3 , wherein the programmable logic controller automatically sets the threshold value based on a known acceptable operation cycle of the corresponding servo unit.7. The feedback control system of claim 1 , further comprising a ...

Automated Dock Positioning System

A computer controlled robotic system that autonomously adjusts the location of a floating marine dock whenever water levels change in a body of water (e.g., a lake or reservoir) to maintain sufficient draft clearance for safe boat operation and ensure safe access to the dock. The system is comprised of an electric motor-driven tractor device attached to the shore-end of a walkway and a pair of electric-motor driven cable winch assemblies with a distributed control system to move the floating dock toward or away from the shore to maintain a relative desired water depth for safe boat operation and positioning in relation to the moving edge of the water shoreline. The tractor and winch motions are controlled by a combination of on-board (dockside) microprocessor and web-based computing that utilizes software to process location telemetry from distance measuring sensors such as Light Detection and Ranging (LIDAR) sensors, Global Positioning System (GPS) data, and a compass bearing to calculate the incremental actuations of the tractor and winch motors. FIG. depicts the system's main elements installed on a marine dock floating near the water's edge (shoreline). 1. An electro-mechanical system which provides automatic and manual adjustment of the position of a floating dock to maintain a safe operating depth of water. This is accomplished by obtaining information regarding water level of the body of water and translating that information into commands to control electro-mechanical devices to adjust the position and orientation of the floating dock such that a relatively constant distance from the shoreline of a body of water with changing water level is maintained. This system is comprised of the following:(a) an electrically powered one-way motorized drive push-bar mechanism that lowers onto the bottom of the body of water to reposition a dock walkway and the floating dock relative to the shoreline; and(b) a push-bar that extends downward into the ground to provide a ...

METHOD FOR CONTROLLING GIMBAL, GIMBAL, CONTROL SYSTEM, AND MOVABLE DEVICE

A method for controlling a gimbal includes obtaining a control signal from a remote control corresponding to the gimbal; obtaining first measurement data of a first Inertial Measurement Unit (IMU); and obtaining second measurement data of a second IMU. The first IMU is fixedly connected to a yaw axis arm of the gimbal, and the second IMU is fixedly connected to a pitch axis arm of the gimbal. The method also includes controlling a roll axis pivot mechanism of the gimbal to rotate for any degree in a 360-degree range according to the control signal, the first measurement data, and the second measurement data. 1. A method for controlling a gimbal , comprising:obtaining a control signal from a remote control corresponding to the gimbal;obtaining first measurement data of a first Inertial Measurement Unit (IMU), the first IMU being fixedly connected to a yaw axis arm of the gimbal;obtaining second measurement data of a second IMU, the second IMU being fixedly connected to a pitch axis arm of the gimbal; andcontrolling a roll axis pivot mechanism of the gimbal to rotate for any degree in a 360-degree range according to the control signal, the first measurement data, and the second measurement data.2. The method of claim 1 , wherein controlling the roll axis pivot mechanism of the gimbal to rotate for any degree in the 360-degree range comprises:determining a target spatial position of the gimbal according to the control signal from the remote control;determining an actual spatial position of the gimbal according to the first measurement data and the second measurement data; andcontrolling the roll axis pivot mechanism of the gimbal to rotate for any degree in the 360-degree range according to the target spatial position and the actual spatial position.3. The method of claim 2 , wherein:the first measurement data of the first IMU comprises a yaw axis angular velocity;the second measurement data of the second IMU comprises a roll axis angular velocity and a pitch axis ...

COMPUTER COCKPIT AND ADJUSTING METHOD THEREOF

A computer cockpit including a cockpit body, a driving module, a sensing module and a controlling module. The cockpit body includes a seat, a backrest and a display interface all movably disposed on the cockpit body. The display interface and the backrest are respectively located at two opposite sides of the seat. The driving module and the sensing module are disposed to the cockpit body, and the sensing module is configured to provide sensing data. The sensing data includes a seat pressure sensing value and a backrest pressure sensing value. The controlling module is electrically connected to the driving module and the sensing module, and configured to send an adjusting command according to the sensing data. The driving module is configured to receive the adjusting command to synchronously rotate the seat, the backrest and the display interface to a working angle and reduce a difference between the backrest pressure sensing value and the seat pressure sensing value. 1. A computer cockpit , comprising:a cockpit body, comprising a seat, a backrest and a display interface, the seat, the backrest and the display interface being movably disposed on the cockpit body, and the display interface and the backrest being respectively located at two opposite sides of the seat;a driving module, disposed to the cockpit body;a sensing module, disposed to the cockpit body, and configured to provide sensing data, wherein the sensing data comprises a seat pressure sensing value and a backrest pressure sensing value; anda controlling module, electrically connected to the driving module and the sensing module, and configured to send an adjusting command according to the sensing data,wherein the driving module is configured to receive the adjusting command to synchronously rotate the seat, the backrest and the display interface to a working angle and reduce a difference between the backrest pressure sensing value and the seat pressure sensing value.2. The computer cockpit as claimed in ...

SELF-STANDING BALANCING DEVICE, AUTOMATIC BALANCING VEHICLE AND AUTOMATIC BALANCING TOY

An self-standing balancing device comprises a supporting frame, a connecting rod, a motor, an inertia turntable, an inertia sensor, a balance controller and a motor driver. The supporting frame comprises a first end and a second end, and the first end is suspended, and the second end is located on a supporting surface. The connecting rod is located on the supporting frame, the connecting rod comprises a third end and a fourth end, and the third end is located on the supporting surface. The motor comprises a fixing base and a rotation axis, and the fourth end is fixed on the fixing base. The inertia turntable is fixed on the rotation axis of the motor. 1. An self-standing balancing device comprising:a supporting frame comprising a first end and a second end, wherein the first end is suspended, and the second end is located on a supporting surface;a connecting rod comprising a third end and a fourth end and being located on the supporting frame, wherein the third end is located on the supporting surface;a motor comprising a fixing base and a rotation axis, wherein the fourth end of connecting rod is fixed on the fixing base;an inertia turntable fixed on the rotation axis of the motor;an inertia sensor configured to recognize a connecting rod information of the connecting rod;a balance controller configured to obtain a motor information of the motor to keep the connecting rod at a vertical position by calculating the connecting rod information; anda motor driver configured to control a rotation of the motor according to the motor information to make the connecting rod to generate a reverse torque, wherein the reverse torque pushes up the connecting rod and keeps the connecting rod at a vertical position.2. The self-standing balancing device of claim 1 , wherein the inertial sensor comprises a gyroscope and an acceleration sensor.3. The self-standing balancing device of claim 1 , wherein the balance controller comprises a control circuit and an algorithm.4. The self- ...

METHOD AND SYSTEM FOR STABILIZING A PAYLOAD

A method for controlling an attitude of a payload includes determining an input torque based on an input angle and one or more motion characteristics of the payload, determining an estimated disturbance torque based on one or more motion characteristics of a carrier to which the payload is coupled, and calculating an output torque based on the input torque and the estimated disturbance torque. The output torque is configured to effect movement of the carrier to achieve a desired attitude of the payload. 1. A method for controlling an attitude of a payload comprising:determining an input torque based on an input angle and one or more motion characteristics of the payload;determining an estimated disturbance torque based on one or more motion characteristics of a carrier to which the payload is coupled; andcalculating an output torque based on the input torque and the estimated disturbance torque, the output torque being configured to effect movement of the carrier to achieve a desired attitude of the payload.2. The method of claim 1 , wherein:the carrier is a multi-axis gimbal rotatably coupled to a movable object;the carrier is configured to rotate relative to the movable object about one or more rotational axes; andthe output torque is applied about the one or more rotational axes.3. The method of claim 1 , further comprising:measuring the one or more motion characteristics of the carrier using an inertial sensor disposed on a frame of the carrier.4. The method of claim 1 , wherein the estimated disturbance torque is determined by a rotation matrix transformation comprising measurements of the one or more motion characteristics of the carrier.5. The method of claim 1 , further comprising:receiving the input angle from an external device in communication with the payload.6. The method of claim 1 , wherein the one or more motion characteristics of the payload comprise at least one of an instantaneous attitude claim 1 , an instantaneous position claim 1 , an angular ...

ABSOLUTE ENCODER, PROCESSING METHOD, PROGRAM, DRIVING APPARATUS, AND INDUSTRIAL MACHINE

An absolute encoder includes a scale having a sequence of marks, a detector configured to detect a signal corresponding to a plurality of marks of the scale, and a processor configured to obtain an absolute position corresponding to the signal. The processor is configured to select code sequences, from a group of code sequences corresponding to absolute positions, as a candidate group for a code sequence corresponding to the signal, and to select the code sequence corresponding to the signal from the candidate group. 1. An absolute encoder comprising:a scale having a sequence of marks;a detector configured to detect a signal corresponding to a plurality of marks of the scale; anda processor configured to obtain an absolute position corresponding to the signal,wherein the processor is configured to select code sequences, from a group of code sequences corresponding to absolute positions, as a candidate group for a code sequence corresponding to the signal, and to select the code sequence corresponding to the signal from the candidate group.2. An absolute encoder comprising:a scale having a plurality of marks including a plurality of types of marks, the plurality of marks being arranged with a space thereamong and at a period;a detector configured to detect a signal corresponding to a plurality of marks of the scale; anda processor configured to obtain an absolute position corresponding to the signal;wherein the processor is configured to select code sequences, from a group of code sequences corresponding to absolute positions, as a candidate group for a code sequence corresponding to the signal, and to select the code sequence corresponding to the signal from the candidate group.3. An absolute encoder comprising:a scale having a plurality of marks including a plurality of types of marks, the plurality of marks being arranged with a space thereamong and at a period;a detector configured to detect a signal corresponding to a number “X” marks of the scale; anda ...

SUBSTRATE CLEANING APPARATUS AND SUBSTRATE PROCESSING APPARATUS

Various examples of a substrate cleaning apparatus and a substrate processing apparatus are described in the present disclosure. One example of the present invention is a substrate cleaning apparatus including a roll cleaning member cleaning a substrate, an inclination sensor detecting an inclination of the roll cleaning member, and an output device outputting a detection result of the inclination sensor. 1. A substrate cleaning apparatus comprising:a substrate holding member holding a substrate;a roll cleaning member cleaning the substrate held by the substrate holding unit;an inclination sensor detecting an inclination of the roll cleaning member; andan output device outputting a detection result of the inclination sensor.2. The substrate cleaning apparatus according to claim 1 , comprising claim 1 , as the output device claim 1 , an inclination correction device correcting the inclination of the roll cleaning member based on a detection result of the inclination sensor.3. The substrate cleaning apparatus according to claim 2 , comprising: a raising and lowering device approximating or separating the roll cleaning member with respect to the substrate claim 2 , whereinthe inclination correction device previously corrects the inclination of the roll cleaning member such that a rotation axis of the roll cleaning member is parallel to a surface of the substrate before the raising and lowering device causes the roll cleaning member to be in contact with the substrate.4. The substrate cleaning apparatus according to claim 2 , comprising:a raising and lowering device approximating or separating the roll cleaning member with respect to the substrate; anda cleaning device cleaning the roll cleaning member, whereinthe inclination correction device previously corrects the inclination of the roll cleaning member such that a rotation axis of the roll cleaning member is parallel to a cleaning surface of the cleaning device before the raising and lowering device causes the roll ...

Systems, Devices, and Methods for Automated Pallet and Receptacle Relocation

Methodologies, systems, and computer-readable media are provided for relocating pallets and receptacles. A shipping motor vehicle has a weight sensor within a cargo area that measures a weight of a pallet or a receptacle. A location sensor located within the cargo area identifies available storage locations within the cargo area, and a computing device equipped with a processor computes a destination location within the cargo area for the pallet or receptacle based, at least in part, on the weight of the pallet or receptacle measured by the weight sensor. An internal conveyor system located within the shipping motor vehicle receives the pallet or receptacle from an external conveyor system and automatically relocates the pallet or receptacle to the destination location within the cargo area. 1. A shipping motor vehicle system for relocating pallets and receptacles , the system comprising: a weight sensor within a cargo area of the shipping motor vehicle that is configured to measure a weight of at least one of a pallet and a receptacle,', 'a location sensor located within the cargo area of the shipping motor vehicle and configured to identify available storage locations within the cargo area of the shipping motor vehicle,', 'a computing device equipped with a processor and configured to compute a destination location within the cargo area for the at least one pallet and receptacle from the identified available storage locations, based, at least in part, on the weight of the at least one pallet and receptacle measured by the weight sensor, and', 'an internal conveyor system located within the shipping motor vehicle; and, 'a shipping motor vehicle, comprisingan external conveyor system configured to convey the at least one pallet and receptacle into the shipping motor vehicle, the external conveyor system including a lifting ramp, the lifting ramp configured to raise the at least one pallet and receptacle to match a height of the shipping motor vehicle;wherein the ...

POSITIONING CONTROL DEVICE

A positioning control device according to an embodiment includes an amplifier that includes a converter that rectifies and outputs an AC power supply to bus-bars; a smoothing capacitor that smoothes an output of the converter and generates a bus voltage; a regenerative resistance and a regenerative transistor; an inverter that supplies a drive current; and a command generation unit that generates a position command value for positioning control of a mechanical load in accordance with a command pattern. The inverter is connected between the bus-bars and supplies the drive current. The command generation unit acquires a regenerative-power-amount estimated value and an energy value storable in the smoothing capacitor; and on the basis of a result of a comparison between these values, it decides whether to use the position command value on the basis of the command pattern. 1. A positioning control device comprising: a converter to rectify and to output an AC power supply to bus-bars,', 'a smoothing capacitor to smooth an output of the converter and to generate a bus voltage,', 'a regenerative resistance and a regenerative transistor that are connected between the bus-bars, and an inverter to supply a drive current for driving a motor; and, 'an amplifier that includes'}a command generation unit to generate a position command value for a positioning control of a mechanical load connected to the motor, the position command value being generated on the basis of a command pattern that is pattern information of a command velocity and command acceleration, whereinthe inverter is connected between the bus-bars, and supplies the drive current on the basis of the position command value, and acquires a regenerative-power-amount estimated value that is estimated from the command pattern before a start of a positioning operation and acquires an energy value that is storable in the smoothing capacitor,', 'when the regenerative-power-amount estimated value is greater than the energy ...

RADIO FREQUENCY CONTROL SYSTEM FOR POWER RUNNING BOARDS

A control system incorporated with a power running board assembly. In particular, incorporating a radio frequency control system for a retractable power running board assembly to move the assembly between a stowed or retracted position and a deployed or extended position. The present invention uses a transmit/acknowledge scheme of door transceivers and receivers to reduce transmissions necessary to monitor door status changes and operation of the retraction and deployment of the running board, which significantly reduces the number of transmissions and wear on the door transceivers battery to extend battery lifetime. 1. A control system for a power running board assembly for vehicles , comprising:at least one door transceiver operable to monitor a respective vehicle door status switch and transmit a signal when door status changes;at least one battery powering said at least one door transceiver;at least one receiver operable to receive said signal and send an acknowledgement to said at least one door transceiver that said signal is received; andwherein another signal is transmitted by said at least one door transceiver when vehicle door status changes to save battery power.2. The control system of claim 1 , wherein said door status switch is monitored in a low power sleep mode3. The control system of claim 1 , wherein said at least one battery is a coin cell battery and said transmit/acknowledgment prevents constant drain on said at least one battery.4. The control system of claim 1 , wherein redundant transmissions are not used.5. The control system of claim 1 , wherein said at least one door transceiver monitors said vehicle door status switch and transmits said signal to said receiver when a vehicle door is open.6. The control system of claim 5 , wherein said at least one door transceiver does not re-transmit said signal the entire time said door is open once said acknowledgment is received.7. The control system of claim 5 , wherein if said acknowledgement is not ...

CONTROL DEVICE, CONTROL METHOD, AND MICROSCOPE DEVICE FOR OPERATION

To make it possible to improve user convenience, provided is a control device including: a control unit configured to control a position and an attitude of a microscope unit by driving an arm unit that supports the microscope unit on the basis of a captured image of an operating site photographed by the microscope unit during an operation so that a position and attitude condition set before the operation is satisfied. The position and attitude condition is a condition that prescribes a position and an attitude of the microscope unit with respect to the operating site to obtain a desired captured image corresponding to the position and attitude condition.

MODULAR SERVO CARTRIDGES FOR PRECISION METROLOGY

Motorized cartridges and coordinate measuring machines having motorized cartridges are provided. The motorized cartridges include a cartridge housing having a shaft passing therethrough, a measurement probe coupled to shaft and arranged to detect movement of the shaft, and an integrated motor operably coupled to the shaft and arranged to drive movement of the shaft. 1. A motorized cartridge for coordinate measuring machines , the motorized cartridge comprising:a cartridge housing having a shaft passing therethrough;a measurement probe coupled to shaft and arranged to detect movement of the shaft; andan integrated motor operably coupled to the shaft and arranged to drive movement of the shaft.2. The motorized cartridge of claim 1 , wherein the integrated motor is one of a frameless motor claim 1 , a direct drive motor claim 1 , and a servo motor.3. The motorized cartridge of claim 1 , wherein the integrated motor is a direct drive frameless motor.4. The motorized cartridge of claim 1 , further comprising a motor housing attached to the cartridge housing claim 1 , wherein the integrated motor is contained within the motor housing.5. The motorized cartridge of claim 4 , further comprising an adapter contained within the motor housing and connecting the integrated motor to the shaft.6. The motorized cartridge of claim 5 , wherein the adapter is configured to connect to an attached device.7. The motorized cartridge of claim 6 , wherein the attached device is one of a laser line probe claim 6 , a rotatable platter claim 6 , and a second cartridge.8. The motorized cartridge of claim 7 , wherein the second cartridge is a motorized cartridge.9. The motorized cartridge of claim 1 , further comprising a bearing assembly located within the cartridge housing claim 1 , wherein the shaft is movable about the bearing assembly.10. The motorized cartridge of claim 1 , wherein the measurement probe is an optical angular encoder.11. The motorized cartridge of claim 1 , wherein the ...

GIMBAL CONTROL METHOD, CONTROL SYSTEM, GIMBAL, AND UNMANNED AIRCRAFT

A method is provided for controlling a gimbal including a mounting member. The method includes determining, through a magnetic sensor, a first deflection angle of the mounting member around a yaw axis in a time period. The method also includes determining, through an inertial measurement unit, a second deflection angle of the mounting member around the yaw axis in the time period. The method also includes determining an angle error of the inertial measurement unit based on the first deflection angle and the second deflection angle. The method further includes controlling attitude of the gimbal based on measurement data of the inertial measurement unit in which the angle error has been corrected. 1. A method for controlling a gimbal including a mounting member , comprising:determining, through a magnetic sensor, a first deflection angle of the mounting member around a yaw axis in a time period;determining, through an inertial measurement unit, a second deflection angle of the mounting member around the yaw axis in the time period;determining an angle error of the inertial measurement unit based on the first deflection angle and the second deflection angle; andcontrolling attitude of the gimbal based on measurement data of the inertial measurement unit in which the angle error has been corrected.2. The method of claim 1 , wherein determining claim 1 , through the magnetic sensor claim 1 , the first deflection angle of the mounting member around the yaw axis in the time period comprises:obtaining a first magnetic field intensity through the magnetic sensor; anddetermining the first deflection angle based on the first magnetic field intensity.3. The method of claim 2 , wherein the first magnetic field intensity is a geomagnetic field intensity.4. The method of claim 2 , wherein determining the first deflection angle based on the first magnetic field intensity comprises:converting the first magnetic field intensity from a first coordinate system to a second coordinate ...

Unknown

A method for controlling a device, in particular a prosthetic hand or a robotic arm, includes using an operator-mounted camera to detect at least one marker positioned on or in relation to the device. Starting from the detection of the at least one marker, a predefined movement of the operator together with the camera is detected and is used to trigger a corresponding action of the device. The predefined movement of the operator is detected in the form of a line of sight by means of camera tracking. A system for controlling a device, in particular a prosthetic hand or a robotic arm, includes a pair of AR glasses adapted to detect the at least one marker and to detect the predefined movement of the operator. 110-. (canceled)11. A method for controlling a robotic device , the method including:(a) with a camera mounted on an operator, detecting when a line of sight associated with the operator is moved to a predefined position relative to at least one marker associated with the robotic device;(b) from the predefined position relative to the at least one marker, detecting a predefined movement of the line of sight, the predefined movement of the line of sight being detected with the camera by tracking movement of the camera by the operator; and(c) wherein the detected predefined movement of the line of sight correlates to a trigger for a corresponding action of the robotic device.12. The method of further including outputting a first feedback result to an output unit for the operator claim 11 , the first feedback result indicating the detection of the at least one marker.13. The method of further including outputting a second feedback result to the output unit for the operator claim 12 , the second feedback result indicating the detection of the predefined movement of the line of sight.14. The method of wherein the camera is arranged on the head of the operator in such a manner that a movement of the head causes a corresponding movement of the camera.15. The method of ...

ENCODER, SERVO SYSTEM, AND POSITION DATA GENERATION METHOD OF ENCODER

An encoder includes a disc coupled to a rotating body and having first tracks and one or more second tracks, a light source which emits light to the first and second tracks, first arrays positioned mutually offset in width direction of the disc perpendicular to measurement direction of the first and second tracks such that the first arrays receive light reflected or transmitted by the first tracks and output first signals, two second arrays positioned to receive light reflected or transmitted by the second track such that the second arrays output two second signals having mutually different phases, and a device which generates position data of the body based on one or more first signals and one of the second signals selected based on the first signals. Each first track has an incremental pattern along the measurement direction, and the second track has an absolute pattern along the measurement direction. 1. An encoder , comprising:a disc coupled to a rotating body and having a plurality of first tracks and at least one second track;a light source configured to emit light to the plurality of first tracks and second track of the disc;a plurality of first light receiving arrays positioned at mutually offset positions in a width direction of the disc perpendicular to a measurement direction of the plurality of first tracks and second track such that the plurality of first light receiving arrays receives light reflected or transmitted by the plurality of first tracks and is configured to output a plurality of first light receiving signals, respectively;two second light receiving arrays positioned to receive light reflected or transmitted by the second track such that the second light receiving arrays output two second light receiving signals having mutually different phases, respectively; anda position data generation device configured to generate position data of the rotating body based on at least one of the first light receiving signals and one of the two second light ...

MOTOR CONTROL DEVICE, MOTOR CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM RECORDING A MOTOR CONTROL PROGRAM

Included are a first position detection part that detects a first position which is the position of a movable part; a second position detection part that detects a second position which is the position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detection value and a second position detection value; and a positional error variation calculation part that calculates an absolute value for variation of positional error since reversal of a position command was detected, in which addition of a backlash correction amount is started if the absolute value for the variation of the positional error exceeds a first reference value, and addition of a backlash acceleration amount is started if the absolute value of variation of the positional error exceeds a second reference value. 1. A motor control device for correcting backlash between a movable part that is driven by a motor , and a driven part that is driven by the movable part , the device comprising:a first position detection part that detects a first position which is a position of the movable part;a second position detection part that detects a second position which is a position of the driven part;a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part; and a second position detected value detected by the second position detection part;a position command creation part that creates a position command;a reversal detection part that detects reversal of the position command;a positional error variation calculation part that calculates an absolute value for variation of the positional error since reversal was detected;a ...

AUTOMATIC PASSENGER BOARDING BRIDGE DOCKING SYSTEM

The present invention provides an improved method and apparatus for automatically aligning and connecting a passenger boarding bridge (PBB) with the passenger door of an aircraft or other vessel. A sensory suite module includes cameras and sensors to scan the apron for obstacles and identify an aircraft based on external features. The sensory suite module also includes one or more high-precision active laser line profilers to detect the vertical and lower edges of an aircraft door. A controller module provides precise control and movement of the distal end of the PBB and guides the distal end of the PBB to the passenger door. The system can be activated by a remote triggering panel module. 119-. (canceled)20. A system for joining a distal end of a passenger boarding bridge with an aircraft passenger door comprised of: a means for aircraft scanning and identification;', 'a means for detecting obstacles near an embarking point or apron;', 'a laser profiler for detecting a location of a gap between an aircraft fuselage and aircraft passenger door; and', 'software filters to account for fog, rain or snow;, 'a) a sensory suite module, said sensory suite module comprised of 'a motor driver, a position sensor and an encoder;', 'b) a controller module, said controller module comprised of a remote docking trigger and an LCD panel;', 'wherein said triggering module activates the sensory suite module, and', 'wherein said controller module operates one or more actuators to drive the distal end of the passenger boarding bridge to the aircraft passenger door., 'c) a triggering module, said triggering module comprised of21. The system of wherein the sensory suite module includes one or more three-dimensional scanners to identify the aircraft by detecting its external features.22. The system of wherein the sensory suite module includes one or more lasers to detect the gap between the aircraft fuselage and the aircraft passenger door.23. The system of wherein the sensory suite ...

ANTI-SHAKE METHOD OF ROBOT AND ROBOT THEREOF

The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time. 1. An anti-shake method of a robot comprising limbs , the limbs electrically connected and corresponding to one or more servos positioned on the robot , comprising:receiving, by a servo corresponding to a limb of the robot, at least one motion-controlling instruction from a main control unit of the robot;determining whether the servo is under motion control of the main control unit;obtaining a target angle and a current angle of the servo of the limb upon determining the servo being not under the motion control of the main control unit;determining whether the current angle is within a fault tolerance range; andterminating the servo upon determining the current angle is within the fault tolerance range.2. The anti-shake method according to claim 1 , wherein the method further comprises:rotating the limb, using the servo, such that the current angle of the servo is within the fault tolerance range upon determining the current angle is not within the fault tolerance range.3. The anti-shake method according to claim 2 , wherein the step of rotating the servo such that the current angle is within the fault tolerance range upon determining the current angle is not within the fault tolerance range comprises:rotating the limb, using the servo, ...

SELF-ACTUATING DEVICE FOR FACILITATING PREVENTING PRODUCT TIP OVER

A self-actuating device and method for facilitating preventing product tip over are provided. The self-actuating device includes an anti-tip mechanism associated with a product to facilitate preventing tip over of the product when in an extended state. Further, the self-actuating device includes an actuator associated with the product. The actuator is configured and operatively coupled to automatically switch the anti-tip mechanism from a retracted state to the extended state based on the actuator detecting a tilt of a specified tilt angle. 1. A method of facilitating preventing product tip over , the method comprising:coupling an anti-tip mechanism to a product to facilitate preventing tip over of the product, the anti-tip mechanism having a retracted state and an extended state; andassociating an actuator with the product and operatively coupling the actuator to the anti-tip mechanism, the actuator being configured to automatically switch the anti-tip mechanism from the retracted state to the extended state based on the actuator detecting a tilt of a specified tilt angle.2. The method of claim 1 , wherein the actuator comprises a weighted cylinder rotatable about an axis and an activation element associated with the weighted cylinder claim 1 , the weighted cylinder being weighted in a lower portion thereof.3. The method of claim 2 , wherein the activation element is a releasable element relative to the weighted cylinder claim 2 , the releasable element releasing to initiate transitioning of the anti-tip mechanism to the extended state based on the weighted cylinder rotating by the specified tilt angle from level about the axis.4. The method of claim 3 , wherein the releasable element transitions to engage a hinged latch of the anti-tip mechanism when the weighted cylinder rotates by the specified tilt angle claim 3 , and based thereon claim 3 , the hinged latch releases an outwardly-biased outrigger of the anti-tip mechanism in a direction of the tilting claim 3 , ...

Self-actuating device for facilitating preventing product tip over

A self-actuating device and method for facilitating preventing product tip over are provided. The self-actuating device includes an anti-tip mechanism associated with a product to facilitate preventing tip over of the product when in an extended state. Further, the self-actuating device includes an actuator associated with the product. The actuator is configured and operatively coupled to automatically switch the anti-tip mechanism from a retracted state to the extended state based on the actuator detecting a tilt of a specified tilt angle.

DISPLAY MOUNT ASSEMBLY

A TV wall mounting device includes a wall mount box with vertical supports, a display mount receiving a TV, and an extending/contracting portion between the box and the display mount. The extending/contracting portion has lower and upper arms rotatably attached to the wall mount with rear axles, a pair of linear actuators rotatably attached to the wall mount, a front portion that rises and lowers with action of the actuators, and a horizontally-swiveling portion that is raised and lowered with the front portion and is capable of rotating right-left with respect to the front portion. The display mount is attached to the horizontally-swiveling portion. Parallel operation of the linear actuators, wherein each actuator extends and retracts while keeping the same length as the other actuator, causes the display mount to go up and down. Differential operation of the actuators causes the display mount to rotate right and left. 1. A mounting device , comprising:a wall mounting portion configured to attach to a wall;a display mounting portion configured to receive a display; andan extending/contracting portion between the wall mounting portion and the display mounting portion, the extending/contracting portion comprising a first actuator and a second actuator, the first actuator being parallel to the second actuator, wherein, when the wall mounting portion is mounted vertically, actuation of the first actuator and the second actuator allows independent control of azimuth of the display mounting portion and independent control of elevation of the display mounting portion in parallel operation and in differential operation.2. The mounting device as in claim 1 , wherein the first actuator comprises a first linear actuator and the second actuator comprises a second linear actuator.3. The mounting device as in claim 2 , wherein:the first actuator comprises a first position sensor configured to indicate extension length of the first linear actuator; andthe second actuator ...

METHODS AND SYSTEMS FOR DETECTING SHADING FOR SOLAR TRACKERS

A solar tracker system including a tracker apparatus including a plurality of solar modules, each of the solar modules being spatially configured to face in a normal manner in an on sun position in an incident direction of electromagnetic radiation derived from the sun, wherein the solar modules include a plurality of PV strings, and a tracker controller. The tracker controller includes a processor, a memory, a power supply configured to provide power to the tracker controller, a plurality of power inputs configured to receive a plurality of currents from the plurality of PV strings, a current sensing unit configured to individually monitor the plurality of currents, a DC-DC power converter configured to receive the plurality of power inputs powered from the plurality of PV strings to supply power to the power supply, and a motor controller, wherein the tracker controller is configured to track the sun position. 1. A solar tracker system comprising:a tracker apparatus including a plurality of solar modules, each of the solar modules being spatially configured to face in a normal manner in an on sun position in an incident direction of electromagnetic radiation derived from the sun; wherein the solar modules include a plurality of PV strings; and a processor;', 'a memory with instructions stored thereon;', 'a power supply configured to provide power to the tracker controller;', 'a plurality of power inputs configured to receive a plurality of currents from the plurality of PV strings;', 'a current sensing unit configured to individually monitor the plurality of currents;', 'a DC-DC power converter configured to receive the plurality of power inputs powered from the plurality of PV strings to supply power to the power supply; and', 'a motor controller;, 'a tracker controller includingwherein the tracker controller is configured to track the sun position.2. The system of claim 1 , wherein the tracking includes:reading the plurality of currents from the plurality of PV ...

CONTROL PARAMETER ADJUSTMENT APPARATUS

A control parameter adjustment apparatus that adjusts control parameters of a servo control unit and a command-value generation unit that control a machine apparatus including a drive shaft includes a parameter input unit to receive an input of a design parameter that characterizes a property of the machine apparatus, an adjustment function selection unit to select a control parameter to be adjusted from control parameters that correspond to functions of the servo control unit and the command-value generation unit on the basis of the received design parameter, and an adjustment execution unit to execute adjustment of the control parameter selected by the adjustment function selection unit. 1. A control parameter adjustment apparatus that adjusts a control parameter of a control apparatus that controls a machine apparatus that includes a drive shaft , the control parameter adjustment apparatus comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of:receiving an input of a design parameter that characterizes a property of the machine apparatus;selecting a control parameter to be adjusted from control parameters that correspond to a function of the control apparatus on a basis of the design parameter received by the receiving; andexecuting adjustment of the control parameter selected by the selecting.2. The control parameter adjustment apparatus according to claim 1 , wherein the design parameter includes at least one of a structure parameter that characterizes a structure of the machine apparatus and a drive shaft parameter that characterizes a component that configures the drive shaft in the machine apparatus.3. The control parameter adjustment apparatus according to claim 2 , wherein the structure parameter is one or more of a type of machine of the machine apparatus claim 2 , a placement location of the drive shaft claim 2 , the number of drive shafts claim 2 , a type of structure ...

VEHICLE LIFT AND STORAGE SYSTEM UTILIZING A MULTI-AXIS ACCELEROMETER

A vehicle lift and storage system (VLSS) can comprise a platform that can be moved between a plurality of positions by one or more moving mechanisms. The platform can be equipped with a wireless, multi-axis accelerometer that transmits data regarding the platform to a control system of the VLSS via a wireless sensor link. Using the data from the multi-axis accelerometer, the control system can generate control signals to control the one or more moving mechanisms. The control system can also detect the occurrence of a safety event based on the data received from the multi-axis accelerometer. In response to detecting a safety event, the control system can cause the one or more moving mechanisms to enter a safety mode to alleviate or respond to the detected safety event. 1a platform for supporting a motor vehicle, the platform being movable between a lower position and an upper position;a moving mechanism operatively connected to the platform to cause the platform to move between the lower and upper positions;a multi-axis accelerometer positioned on the platform; generate a control signal to cause the moving mechanism to operate in a first mode to cause the platform to move from an initial position to a desired position, the initial position being one of the upper and lower positions and the desired position being the other one of the upper and lower positions;', 'while the moving mechanism is operating in the first mode, monitor an output from the multi-axis accelerometer; and', 'determine, based on the monitored output from the multi-axis accelerometer, that a safety event has occurred and, in response to the determination, generate a safety signal to cause the moving mechanism to halt operating in the first mode., 'a control sub-system, operatively coupled to the multi-axis accelerometer and the moving mechanism, for controlling the moving mechanism, the control sub-system being configured to. A vehicle lift and storage system comprising: This application is a ...

THROUGH-CLOUD CELESTIAL SIGHTING SYSTEM

A wide field-of-view celestial sighting system and method are provided. The method includes orienting an imaging optic to collect light from at least one light source, such as at least one celestial body, the imaging optic being secured to a platform. The method further includes selectively collecting light from the at least one celestial body through a selective light collector secured to the platform and positioned in an imaging surface, such as an imaging plane, of the imaging optic. The method further includes combining forward scattered light from the at least one celestial body to provide a combined forward scattered light, and detecting a light intensity of the combined forward scattered light. Systems for performing the method are provided. 1. A wide field-of-view celestial sighting system for viewing a plurality of light sources , the system comprising:a platform;an imaging optic secured to the platform and configured to focus light from a plurality of light sources onto an imaging surface;a selective light collector secured to the platform and positioned in the imaging surface of the imaging optic, the selective light collector configured to allow forward scattered light from each of the plurality of light sources to pass through the selective light collector; anda light detector configured to receive the forward scattered light from the selective light collector and configured to sense an intensity of the forward scattered light.2. The system of claim 1 , wherein the imaging surface is an imaging plane.3. The system of claim 2 , further comprising:at least one selective light collector actuator; and rotating the selective light collector about one or more axes; and', 'translating the selective light collector,, 'at least one processor configured to cause the at least one selective light collector actuator to maximize the intensity of the forward scattered light sensed by the light detector by at least one ofthe at least one processor being further ...

ELECTRONIC DEVICE, ROBOTIC SYSTEM, AND VIRTUAL AREA SETTING METHOD

An electronic device associates coordinates of a virtual space with coordinates of a real space. The electronic device includes an imaging section, a recognition section, a first setting section, and a display controller. The imaging section captures an image or respective images of a hand and a robot in the real space to generate a captured image of the hand and the robot. The recognition section recognizes a gesture represented by a motion of the hand based on the captured image. The first setting section sets the robot in the virtual space based on coordinates of the hand in the virtual space when it is recognized that the gesture corresponds to a first gesture. The display controller controls display of the robot so that the robot is visible to the human eye. 1. An electronic device that associates coordinates of a virtual space with coordinates of a real space , comprising:an imaging section configured to capture an image or respective images of a subject and a robot in the real space to generate a captured image of the subject and the robot;a recognition section configured to recognize a gesture represented by a motion of the subject based on the captured image;a first setting section configured to set a virtual area in the virtual space based on coordinates of the subject in the virtual space when it is recognized that the gesture corresponds to a first gesture; anda display controller configured to control display of the virtual area so that the robot is visible to a human eye, whereinthe virtual area corresponds to a boundary area in which an operation of the robot is restricted in the real space.2. The electronic device according to claim 1 , whereinwhen it is recognized that the gesture corresponds to a second gesture that is different from the first gesture, the first setting section changes a size of the virtual area based on the coordinates of the subject in the virtual space.3. The electronic device according to claim 1 , whereinwhen it is recognized ...

POSITION/FORCE CONTROL DEVICE

Provided is technology for more appropriately realizing a human physical-act using a robot. This position/force control device comprises: an act time information retaining means for retaining a time interval or a time stamp of an act, in addition to act information when the act is recorded; a control reference information generation means for generating, from the recorded act information, information to serve as a control reference when the act is replicated; a control timing determination means for determining, from the recorded act time information, a timing for outputting the control reference information when the act is replicated; and a position/force control means for replicating the act on the basis of the generated control reference information and the determined control timing. 1. A position/force control device comprising:force/velocity allocation-by-function transformer that performs transformation to allocate control energy to energy of velocity or position and energy of force in accordance with a function to be implemented, based on information or velocity (position) and force corresponding to information about position that is based on an operation of an actuator, and information serving as a reference of control;a position control amount calculator that calculates a control amount of velocity or position, based on the energy of velocity or position allocated by the force/velocity allocation-by-function transformer;a force control amount calculator that calculates a control amount of force, based on the energy of force allocated by the force/velocity allocation-by-function transformer;a combiner that combines the control amount of velocity or position with the control amount of force, and in order to return a resultant output to the actuator, inversely transforms the control amount of velocity or position and the control amount of force, and thereby determines an input to the actuator;an action time information retainer that retains not only action ...

Extended Duration Regenerative Powered Unmanned Aerial Vehicle (UAV) Platform

An unmanned aerial vehicle (UAV) cluster includes a plurality of mission UAVs and a plurality of core UAVs arranged in a cluster. One or more of the mission UAVs is configured for controlled independent flight. The plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster. 1. An unmanned aerial vehicle (UAV) cluster comprising:a plurality of mission UAVs arranged in a cluster, with a set of one or more mission UAVs being configured for controlled independent flight; anda plurality of core UAVs distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster.2. The UAV cluster of wherein each core UAV and each mission UAV in the UAV cluster is a same size and is congruent.3. The UAV cluster of wherein one or both of a number and type of core UAVs to be distributed throughout the UAV cluster is selected based on the predefined mission characteristic.4. The UAV cluster of wherein the predefined mission characteristic comprises one or more of:a distance of a destination location from a launch location of the UAV cluster;a type of mission the set of one or more mission UAVs are configured to perform;a number of predetermined intermediate waypoints for the UAV cluster between the launch location of the UAV cluster and the destination location; anda load characteristic of a load carried by the UAV cluster and delivered by the set of one or more mission UAVs.5. The UAV cluster of wherein one of the plurality of core UAVs to be distributed throughout the cluster comprises one of:a propulsion UAV configured to augment a propulsion provided by each individual mission UAV in the cluster;a fuel storage UAV comprising a fuel reservoir storing a fuel, and configured to augment the fuel consumed by each individual mission ...

Patent JPH0526041B2

位置決め制御方式

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

位置決め用カウンタ装置

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用于控制流体操作致动器的方法和装置

本发明提供一种用于控制流体操作致动器（101）的定位器（102），该流体操作致动器（101）包括第一流体腔室（109）和第二流体腔室（110）。定位器（102）包括联接到第一流体腔室（109）的第一流体管道（105）。定位器（102）也包括联接到第二流体腔室（110）的第二流体管道（106）。设于定位器（102）中的差压控制器（240）适于基于第一流体腔室（109）与第二流体腔室（110）之间的差压来控制到第一流体管道（105）和第二流体管道（106）的流体供应。

位置決め装置

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Controller

Shaft position-to-digital converter

ПРЕОБРАЗОВАТЕЛЬ УГЛА ПОВОРОТА ВАЛА В КОД, содержащий синуснокосинусный вращающийс  трансформатор, выход которого через последовательно соединенные фильтр и усилитель подключен к одному входу синхронного детектора, другой вход которого соединен с источником опорного напр жени , блок преобразовани  напр жени  в частоту следовани  импульсов , счетчик, блок индикации, реверсивньш счетчик, первый и второй формирователи ШИМ-сигнапов, выходы которых подключены к согласующему блоку , отличающийс  тем, что, с целью повышени  точности, в него введены высокочастотный фильтр, фор- мирователь модул  напр жени , фор мирователь знака напр жени , первый и второй коммутаторы, блок управлени  коммутаторами, блок контрол  и блок регулировани  напр жени , сигнальные входы которого соединены с выходами согласующего блока, а выходы подключены к входам синуснокосинусного вращающегос  трансформатора , выход синхронного детектора через высокочастотный фильтр подключен к формирователю знака напр жени  и к последовательно соединенным формирователю модул  напр жени  и блоку преобразовани  напр жени  в частоту следовани  импульсов, выход которого и выход формировател  знака СО напр жени  через первый коммутатор подключены к сигнальному и управл ющему входам реверсивного счетчика, выход которого подключен к одному сигнальному входу второго коммутатора выход второго коммутатора подключен к входам первого и второго формирователей ШИМ-сигнапов, выход счетчика 4 подключен к входу блока контрол , сх выходы блока контрол  подключены к СП другому сигнальному входу второго коммутатора, блоку ийдикации и счет4 чику, И.1ХОДЫ блока управлени  коммутаторами подключены к управл ющим входам первого и второго коммутаторов . SHAFT ANGLE CONVERTER OF A CODE, containing a sine-sinus rotary transformer, the output of which is connected via a serially connected filter and amplifier to one input of a synchronous detector, the other input is connected to a reference voltage source, a voltage conversion unit, pulse ...

車両用位置制御装置

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

可動体の制御装置

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電子回路の自動調整方式

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Digital servo control system and processing method based on gyrocompass

本发明提供的基于陀螺罗经的数字伺服控制系统，主控处理模块用于分采集8字线圈检测模块，电磁摆检测模块和加速度计检测模块的信号，对信号进行处理，启动陀螺仪，并生成俯仰电机运行控制指令和方位电机运行控制指令，实时跟踪并控制俯仰电机和方位电机运行。该系统可以直接利用主控处理模块进行软件调试，调试方法简单，能够实现柔性化设计，也避免了现有的伺服控制系统中，由于元器件的特性受环境温度影响，导致系统稳定性差的问题。基于陀螺罗经的数字伺服控制系统的处理方法，能够对采集到的8字线圈输出的信号，电磁摆的输出信号和加速度计的输出信号进行处理，控制罗经始终在子午面内，稳定指北。