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178results about How to "Avoid excessive mass" patented technology

Autonomous Space Flight System and Planetary Lander for Executing a Discrete Landing Sequence to Remove Unknown Navigation Error, Perform Hazard Avoidance and Relocate the Lander and Method

An autonomous unmanned space flight system and planetary lander executes a discrete landing sequence including performing an initial velocity braking maneuver to remove velocity at altitude, coasting during which the planet surface is imaged and correlated to reference maps to estimate cross-track and along-track navigation errors and one or more lateral braking maneuvers are performed to reduce cross-track navigation error, and performing a terminal velocity braking maneuver(s) to reduce the along-track braking maneuver and remove the remainder of the velocity just prior to landing. A bi-propellant propulsion system provides a very high T/M ratio, at least 15:1 per nozzle. Short, high T/M divert maneuvers provide the capability to remove cross-track navigation error efficiently up to the maximum resolution of the reference maps. Short, high T/M terminal velocity braking maneuver(s) provide the capability to remove along-track navigation error to a similar resolution and remove the remaining velocity in a very short time window, approximately 3-15 seconds prior to touchdown. The propulsive efficiency frees up mass which can be allocated to a fuel to remove the unknown navigation errors, perform hazard avoidance and/or relocate the lander by flying it to another site or be allocated to additional payload.
Owner:RAYTHEON CO

Controlled flight of a multicopter experiencing a failure affecting an effector

According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.
Owner:ETH ZZURICH

Rotary servovalve and control system

An improved rotary servovalve system employs a rotary magnetic solenoid having an armature that includes at least one permanent magnet. The armature is rotatable relative to a stator formed as an electromagnet which is energizable to create alternative electromagnetic fields having opposite polarities from each other. When deenergized, the stator allows the armature to return to a neutral, null position from positions of extreme rotation in opposite angular directions due to the magnetic force of the permanent magnet of the armature. The armature is coupled to carry a movable valve element in angular rotation therewith, so that flow through the servovalve of the system can occur in alternative directions. Also, the valve element is biased toward a position in which all of the valve ports are closed when power is removed from the rotary solenoid. The control circuit employed in the rotary servovalve system expands the bandwidth of response of the solenoid actuator by compensating for frequency variations in the input command signal and in the feedback signal. This compensation is achieved utilizing a combined proportional, integral, and differential amplification circuit. Also, imbalance of fluid forces within the servovalve mechanism can be avoided by utilizing a pair of inlet orifices, a pair of outlet orifices, a pair of first fluid control orifices, and a pair of second fluid control orifices. The orifices within each pair are located on opposite sides of the valve housing from each other.
Owner:WOODWORTH RAYMOND DEXTER

Controlled flight of a multicopter experiencing a failure affecting an effector

According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and / or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.
Owner:ETH ZZURICH

Autonomous space flight system and planetary lander for executing a discrete landing sequence to remove unknown navigation error, perform hazard avoidance and relocate the lander and method

An autonomous unmanned space flight system and planetary lander executes a discrete landing sequence including performing an initial velocity braking maneuver to remove velocity at altitude, coasting during which the planet surface is imaged and correlated to reference maps to estimate cross-track and along-track navigation errors and one or more lateral braking maneuvers are performed to reduce cross-track navigation error, and performing a terminal velocity braking maneuver(s) to reduce the along-track braking maneuver and remove the remainder of the velocity just prior to landing. A bi-propellant propulsion system provides a very high T / M ratio, at least 15:1 per nozzle. Short, high T / M divert maneuvers provide the capability to remove cross-track navigation error efficiently up to the maximum resolution of the reference maps. Short, high T / M terminal velocity braking maneuver(s) provide the capability to remove along-track navigation error to a similar resolution and remove the remaining velocity in a very short time window, approximately 3-15 seconds prior to touchdown. The propulsive efficiency frees up mass which can be allocated to a fuel to remove the unknown navigation errors, perform hazard avoidance and / or relocate the lander by flying it to another site or be allocated to additional payload.
Owner:RAYTHEON CO
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