946 results about "Rolling angle" patented technology

A high dimensional touchpad (HDTP) controls a variety of computer windows systems and applications by detecting a user's finger movement in the left-right, forward-backward, roll, pitch, yaw, and downward pressure directions. Measurements obtained from the touchpad of at least two attributes of finger movement at two different time intervals are used to provide a first and a second finger position attribute used to control an application on an electronic device. The finger roll angle is determined by detecting the edge and the peak region of a finger contact area. Also, a visual color displayed in an application operating on an electronic device is controlled by a measured-angle value of a finger in contact with a touchpad.

The invention discloses a machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method which comprises the following steps of: synchronously acquiring a mobile robot binocular camera image and triaxial inertial navigation data; distilling front/back frame image characteristics and matching estimation motion attitude; computing a pitch angle and a roll angle by inertial navigation; building a kalman filter model to estimate to fuse vision and inertial navigation attitude; adaptively adjusting a filter parameter according to estimation variance; and carrying out accumulated dead reckoning of attitude correction. According to the method, a real-time expanding kalman filter attitude estimation model is provided, the combination of inertial navigation and gravity acceleration direction is taken as supplement, three-direction attitude estimation of a visual speedometer is decoupled, and the accumulated error of the attitude estimation is corrected; and the filter parameter is adjusted by fuzzy logic according to motion state, the self-adaptive filtering estimation is realized, the influence of acceleration noise is reduced, and the positioning precision and robustness of the visual speedometer is effectively improved.

When the three-dimensional direction the head faces is detected by three axes, that is, a yaw angle that is an angle turning around an erect axis erected on the horizontal surface of the head, and a pitch angle and a roll angle that are angles formed by the above erect axis and two axes perpendicular thereto, a gyro sensor 11 which detects the yaw angle from the integral value of the acceleration, a tilt sensor 12 which detects the inclination of a plane that intersects the direction of the erect axis at right angles, and calculation element 14 which calculates the pitch angle and the roll angle from the output of a tilt sensor are provided, so that the direction that the head faces can be detected with a simple detecting structure including the two sensors, in a head mounted display or the like.

A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscope's movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the device's shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscope's location and orientation.

A global navigation satellite system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Relative orientations and attitudes between tractors and implements can be determined using optical sensors and cameras. Laser detectors and rangefinders can also be used.

A multi-axis adjustable exercise machine which is pivotable about both a pitch axis and a roll axis with respect to a base for allowing an exerciser to perform a wide range of exercises on a pitched or rolled exercise machine. The multi-axis adjustable exercise machine generally includes an exercise machine which is adjustable with respect to a base. The exercise machine may be pivoted about a roll axis to adjust the roll angle of the exercise machine or may be pivoted about a pitch axis to adjust the pitch angle of the exercise machine. One or more actuators may be connected between the base and the exercise machine to effectuate the pivoting of the exercise machine about either or both axes with respect to the base.

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command.

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, articulated implements with multiple antennas on each implement section, video input and guiding multiple vehicles and pieces of equipment relative to each other.

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other, and snow grooming equipment and method applications.

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other and earth-moving equipment and method applications.

A sensor system for vehicle steering control comprising: a plurality of global navigation satellite sensor systems (GNSS) including receivers and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase corrected real time kinematic (RTK) position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system.

A control system for a vehicle (10) is described for use in conjunction with the safety system (44) of the vehicle (10). A tire sensor or plurality of tire sensors generates tire force signals. The tire force signals may include lateral tire forces, longitudinal (or torque) tire forces, and normal tire forces. Based upon the tire force signals, a safety system (44) may be activated. The tire force sensors may be used to monitor various conditions including but not limited to sensing a roll condition, wheel lift detection, a trip event, oversteering and understeering conditions, pitch angle, bank angle, roll angle, and the position of the center of gravity of the vehicle.

The invention provides a super-hydrophobic nanometer transparent coating and a preparation method thereof and belongs to the technical field of super-hydrophobic paint. The method includes the steps that firstly, a first category of inorganic nanometer particles are added into an organic solution, and ultrasonic dispersion is performed; secondly, dispersing agents and a second category of inorganic nanometer particles are added, and ultrasonic dispersion is performed so that a dispersion solution can be obtained; crosslinking agents and additives are added in the dispersion solution, ultrasonic dispersion is performed, finally, low-surface energy polymers are added, mixtures are evenly mixed, and transparent and clear super-hydrophobic paint is obtained; the surface of a solid base materials is coated with the transparent and clear super-hydrophobic paint, and the super-hydrophobic nanometer transparent coating is obtained through low-temperature thermal drying and curing. The super-hydrophobic performance of the super-hydrophobic nanometer transparent coating prepared through the method is excellent, the contact angle can be 160 degrees, the rolling angle is 1-7 degrees, the super-hydrophobic nanometer transparent coating can be sprayed to the surfaces of most of common materials, the morphology of the surfaces of the materials are not changed, and the application prospects and the application potency are very wide.

The invention relates to SINS/GPS magnetic compass integrated navigation system data fusion method. It includes the following steps: processing position speed error combination for the SINS and GPS; estimating carrier position, speed, and altitude error by the first Kalman filtering to feed back and rectify SINS; calculating direction cosine matrix from carrier coordinate system to level coordinate system by outputted roll angle and pitch angle to assist magnetic compass to gain carrier magnetic course angle, and course angle; processing course angle error combination for the SINS and magnetic compass; estimating carrier altitude error by the second Kalman filtering to feed back and rectify SINS; outputting carrier position, speed, and altitude information from SINS to user. The invention has the advantages of simple computing, high precision, strong fault tolerant ability and wide application. Thus it can be used to increase magnetic compass altitude fixing precision, navigation precision of the SINS/GPS magnetic compass integrated navigation system used in space craft, aircraft, shipping, or surface car.

The invention discloses super-hydrophobic and super-oleophobic surface preparation technology. In the preparation technology, aluminum or aluminum alloy sheets are subjected to two-step electrochemical treatment, and then are modified by using perfluorinated octadecyl trichlorosilane or perfluorinated polymethacrylate to prepare the super-hydrophobic and super-oleophobic surface. The surface has super-hydrophobic property on aqueous solution of which the pH value is between 1 and 14 and super-oleophobic property on various oil drops, wherein a contact angle of the surface on water is 171 degrees, and a rolling angle is less than 1 degree; the surface expresses the super-oleophobic property on various oil drops except for perfluorinated polymer liquid, and all contact angles between the oil drops and the surface are more than 150 degrees, and rolling angles are generally less than 10 degrees; and the surface can also be put in air for a long time and can still maintain the super-hydrophobic property and super-oleophobic property.

A system and method for determining the roll rate and roll angle of a spinning platform, using the measured phase differences between the GPS satellite signals received on two or more antennas. The measured phase differences and the navigation solution from a GPS receiver are processed in a Kalman filter to obtain the desired information. Data from non-GPS measurement sources is optionally provided to update the navigation solution. Although of wide applicability, the invention is uniquely suited to the measurement of roll rates and roll angles of fast spinning platforms with small baselines, in which the antennas are separated from each other by distances that are a fraction of the GPS signal wavelength.

The invention relates to a position and attitude parameter measurement system of a machine body of a boring machine and a method thereof, and the position and attitude parameter measurement system consists of a line laser transmitter, a rack of the line laser transmitter, laser targets, a programmable computer controller, an A/D conversion module and two inclination sensors. The line laser transmitter is positioned by a laser direction indicator and the rack of the line laser, emits a fan-shaped laser beam and forms linear spots on the machine body of the boring machine. An photosensitive element in one position on one of the two laser targets consisting of the photosensitive elements senses the laser beam and generates a current signal at any time, and the current signals are processed and calculated by an internal circuit of the laser targets and the programmable computer controller, thereby determining the positions of the laser beam on the laser targets; furthermore, the mounting positions of the laser targets on the boring machine are known, thereby obtaining a deflection angle and deflection displacement of the boring machine. Two inclination sensors measure a pitch angle and a roll angle of the boring machine, thereby completing the measurement of position and attitude parameters of the machine body of the boring machine. The system has the advantages of low cost, high precision, good real-time property and convenient operation.

A system and method for correcting distortion in projected images caused by the projection of an input image by a projector lens onto a projection screen having a surface that is not orthogonal to the projection axis of the projector. Projection parameters including the focal length of the projector lens and the angles that represent the pan, tilt and roll angle of the projector are obtained. Then the projected area and the best viewable rectangular area that fits within said projected area is determined. The distortion is then characterized by using a distortion transformation which corresponds to the transformation that exists between the vertices of the best viewable rectangular area and the corresponding vertices of the projected area. Finally, the distortion transformation is inverted and applied to input image to obtain a distortion free projected image.

The invention discloses an organic polysilazane/inorganic nano-material super-hydrophobic coating and a preparation method thereof. According to the preparation method, firstly, an organic polysilazane solution is prepared, a silane coupling agent containing hydrophobic units is used for carrying out hydrophobization on an inorganic nano-material, and dispersion liquid of the hydrophobic inorganic nano-material is prepared; then, an organic material or an inorganic material or a metal material serves as a base material, and an organic polysilazane and the hydrophobic inorganic nano-material alternatively deposit on the surface of the base material in sequence through a deposition method; finally, appropriate heat treatment is carried out on the surface which is subjected to multiple times of alternative deposition. The obtained coating shows good super-hydrophobic performance, the contact angles of water drops on the surface of the coating are larger than 150 degrees, the rolling angles are smaller than 10 degrees, and the coating has good mechanical and chemical stability and has wide application prospect in the field of waterproof clothes, exterior wall coating, oil-water separation, biomedicine and the like. According to the method, the preparation process is simple, and large hydrophobic coatings can be established on various base material surfaces.

A pipeline connection assembly includes a landing platform and rotary or swivel connection hub which may be attached to a pipeline branch, termination, or manifold. The landing platform is mounted so that it may be rotated about the connection hub. This permits the installation of a subsea connection on a near level platform and allows the pipeline to be laid subsea with greater roll angles than would be acceptable otherwise. Orientation of the landing porch horizontally removes the requirement to manufacture the connection jumper to compensate for the roll differences in the hubs. In the preferred construction, the elevation of the platform can be adjusted by a remotely operated vehicle (ROV) and locked into place once the adjustment is completed.

The sensor successively calculates a rolling angle, pitch angle and azimuth from the coordinate transformation matrix with the level error and azimuth error compensated. It calculates azimuth error compensatory values using the GPS direction signal and calculates a difference between the GPS direction signal and magnetic azimuth signal under a condition wherein the reliability of the GPS direction signal is high, whereas it calculates azimuth error compensatory values using the calculated difference between the GPS direction signal and magnetic azimuth signal and the magnetic azimuth signal under a condition wherein the reliability of the GPS direction signal is not high and under a condition wherein the reliability of the magnetic azimuth signal is not low.

The invention belongs to the technical field of preparing the surface of a composite structure, and in particular relates to a method for preparing super-hydrophobic antireflective silicon surface with a micron and nanometer composite structure. The method comprises the following steps: cleaning a silicon chip; preparing a micron-level silicon island and a gridding structure on the surface of the silicon chip; carrying out catalytic etching taking silver or aurum nanoparticles as blockage; obtaining the surface of the micron and nanometer composite structure; and carrying out chemical modification of the surface of the composite structure. A static contact angle between the super-hydrophobic antireflective material surface prepared by the method and water is more than 150 degrees, and a static rolling angle of water is less than 3 degrees. The surface has superior antireflective performance, and in particular, the light reflectivity within the wavelength range between 800 and 1,100 nm is less than 3 percent. With application of the method, the super-hydrophobic antireflective silicon surface of the micron and nanometer composite structure can be produced on scale, can be widely applied to a solar cell, a microfluidic chip, a photoelectric device, and the like, and has good industrial application prospect.

The invention discloses a method for preparing a metal titanium or titanium alloy super-oleophobic surface. The method comprises the following steps of: performing primary anodic oxidation treatment on metal titanium or titanium alloy to obtain a roughened surface with a microstructure; forming a titanium dioxide nanotube array film on the surface with microstructure through secondary anodic oxidation so as to obtain a composite fine structured micro-nanostructure; and modifying with a low-surface-energy substance to obtain the super-oleophobic surface and the super-hydrophobic and super-oleophobic surface. The metal titanium or titanium alloy surface has super-oleophobic and super-hydrophobic characteristics for multiple kinds of organic liquid, the static contact angle is greater than 155 degrees; the rolling angle is less than 10 degrees; meanwhile, the surface also shows superior super-oleophobic and super-hydrophobic characteristics for pure water and aqueous solution of acid, alkali and salt.

The present invention relates to a method of the 3D track simulation for a miniature aircraft under urban surroundings and belongs to the field of the 3D real-time route navigation technology for a miniature aircraft. The following modules are set in a computer: a map digitalized module, which digitalizes the 3D model of urban surroundings including threat points, buildings, the departure and target points of a miniature aircraft that is inputted by the graphical user interface (GUI), map parameters and the coordinate of a candidate navigation point composed of the 3D model of urban surroundings and the map parameters; a flight path programming module, which inputs the data from the map digitalized module, calculates the overall route index that takes the flight resource consumption rate and the survival rate into consideration, figures out the most feasible route using network optimizing algorithm under the condition of taking barriers into consideration, and then smooths the bevel at turnings and generates a realtime flight orbit; a data-collecting module, which collects the coordinate values of the aircraft positions and postures outputted by the flight path programming module and forms a posture coordinate value including orthogonal coordinate variables X, Y and Z, a pitch angle h, a yawing angle p and a roll angle r. The present invention saves flight resources and improves flights simultaneously.

An image processing system includes a camera, an image processor and a calibration surface. The calibration surface includes thereon a calibration pattern, the calibration pattern comprising a plurality of alternately coloured elements which provide a corresponding plurality of corners at locations on the calibration pattern at which more than two of the coloured elements adjoin. The corner locations define a first group of lines and a second group of lines, the lines in each of the group of lines are parallel with respect to each other and with respect to the calibration surface. The first group of lines is orthogonal to the second group of lines and the camera is operable to generate and communicate to the image processor a video signal representative of a scene as viewed by the camera, the scene including the calibration surface. The image processor is operable to detect from the video signal at least some of the corner locations and thereby identify the first and second group of lines of the calibration pattern, to extrapolate the lines from each group of lines to determine a presence and a location of a first intersection point on a plane of the scene as viewed by the camera at which the extrapolated lines from the first group intersect and a second intersection point on the plane of scene as viewed by the camera at which the extrapolated lines from the second group intersect, and to estimate from the presence and the location of the first and second intersection points one or more of an estimated roll angle value, an estimated pitch angle value and an estimated yaw angle value corresponding to a roll angle, pitch angle and yaw angle of the camera relative to the calibration surface. The detection of the corner locations by the image processor comprises identifying from the video signal a plurality of potential corner locations, defining an area of the scene as viewed by the camera centred around each potential corner location, analysing a colour of points lying on a periphery of each area, thereby estimating a likelihood that a corner is located at each potential corner location.

A glove-like apparatus mounted on a user's hand to control the cursor movement and to click for providing functions of a computer mouse. The apparatus has a glove-like body with multiple finger tubes. A tilt sensor is mounted on the glove metacarpus, of which the roll angle of the hand is detected to determine the moving orientation of the cursor. Two pairs of bending sensors are mounted on the thumb tube and the index finger tube, each pair of the sensors is used to detect a bending angle of the corresponding finger. The bending of the thumb or the index finger at a time is used to move the cursor in the negative or the positive direction along the located orientation line. The data glove for cursor control is operated as a virtual mouse with a virtual tracking ball.

Apparatuses and methods provide an image pick-up device for picking up an image outside a vehicle, an apparatus body including an installation portion installed to an interior-side surface of a pillar of the vehicle, and a display device provided integrally with the apparatus body and including a display screen disposed on an interior side with respect to the installation portion. An image pick-up element of the image pick-up device is provided such that a roll angle of the image pick-up element is substantially equal to a roll angle of the display screen of the display device.

The invention relates to a novel imaging method in agile satellite maneuvering, which is capable of realizing imaging of satellite during a posture adjustment process. The method comprises the following steps: according to geographic latitude and longitude of on-board orbit forecast data and imaging object point, a triaxial attitude angle directional target imaging start point of satellite is arranged; a roll angle and a pitch angle are obtained through a modeling algorithm for determining the satellite optical axis directional target imaging point; establishing a CCD image plane in a satellite model, performing calculation to obtain image motion velocity vector and a drift angle through projection calculating, and yaw angle of the satellite is controlled for correcting the drift angle, calculating the image motion velocity vector to obtain TDICCD integration time for image motion compensation, and satisfying the image processing requirement of imaging in maneuvering. The design method is capable of using in a triaxial attitude maneuvering process of the satellite for starting optical payload for a dynamic imaging technology for imaging, so that target directional requirement and image processing requirement during an imaging process can be realized.

The invention discloses a method for preparing a wear-resisting super-hydrophobic coating through a cold spraying technology and a product of the method. The method comprises the following steps that firstly, the surface of a base body is roughened; secondly, sprayed powder is modified with low-surface-energy matter; and thirdly, the wear-resisting super-hydrophobic coating is prepared on the surface of the base body through the cold spraying technology. The static contact angle of the coating prepared through the method can be 150-180 degrees, the rolling angle of the coating is smaller than 10 degrees, and good super-hydrophobicity is achieved. According to the method, the product of a non-stick pan is prepared and has good wear resistance and non-stick performance, and compared with non-stick pans in the market, the product is more resistant to wear and has the great competitive potential in the field. In addition, the method can be used for preparing different wear-resisting super-hydrophobic coatings based on different base materials (such as metal, ceramic, glass and plastic), and the application range is wide.

The invention discloses a laser heterodyne interference linearity measuring device and a laser heterodyne interference linearity measuring method with six-degree-of-freedom detection. The laser heterodyne interference linearity measuring device comprises a laser heterodyne interference linearity and position detection part and an error detection and compensation part; a four-degree-of-freedom error detection light path consisting of three ordinary beam splitters, a polarizing beam splitter, a plane reflecting mirror, a convex lens, a position sensitive detector and two four-quadrant detectors is additionally arranged in a light path structure of the laser heterodyne interference linearity and position detection part. By utilizing a method for integrating the laser heterodyne interferometry and a laser spot detection method, the simultaneous six-degree-of-freedom detection of a deflection angle, a pitch angle, a rolling angle, horizontal linearity, vertical linearity and linearity position of a measured object can be realized, the error compensation is carried out for the vertical linearity and the vertical linearity position, the influence of rotation error of the measured object on a measurement result in the linearity measuring process can be eliminated, and the measurement precision of the laser heterodyne interference linearity and the position of the laser heterodyne interference linearity can be improved.