469 results about "Trajectory control" patented technology

A ball that provides normalized images of a ground-based target subject captured over the course of the arc of its airborne trajectory. The improvements include a processing unit that compiles multiple images into a smooth continuous fly-by video of the target subject, a processing unit that stitches multiple images captured at a single moment in the ball's trajectory into a panoramic image and further normalizes and compiles multiple panoramic images into a smooth, continuous fly-through video, and an embedded motion sensor to initiate operations when the ball is pitched, and an embedded impact sensor to shut down operations for power conservation, and a mass which forces the camera into a repeated spinning or precessing orbit around the core of the ball, and a wireless transmission of surveillance imagery captured by the ball, and ground-based transmission of the target subject's location for subsequent image capture, and means for capturing multiple images of varying viewpoints including a camera aperture connected to a branching collection of fused fiber optic bundles. Also disclosed are means for directing the ball along a controllable trajectory to move toward a ground-based target subject.

A trailer backup assist system for motor vehicles includes an auxiliary user input feature that can be used by a vehicle operator to provide a steering curvature command corresponding to a desired vehicle path curvature without requiring a user to move a steering wheel of the motor vehicle. The trailer backup assist system is configured to control a vehicle speed while the vehicle is backing up with a trailer attached thereto utilizing an input comprising at least one of a steering curvature command and an angle of a trailer relative to the vehicle. The trailer backup assist system controls at least one of a brake system, an engine torque, and a transmission gear selection to thereby control vehicle speed in a reverse direction.

An artificial intelligence system is provided which makes use of a dual subroutine to adapt weights. Elastic Fuzzy Logic ("ELF") System is provided in which classical neural network learning techniques are combined with fuzzy logic techniques in order to accomplish artificial intelligence tasks such as pattern recognition, expert cloning and trajectory control. The system may be implemented in a computer provided with multiplier means and storage means for storing a vector of weights to be used as multiplier factors in an apparatus for fuzzy control.

The invention concerns a drilling tool steering device, characterized in that it contains, consecutively from upstream to downstream, a main body (1) and a steerable housing (2), joined respectively by at least one connection of pivot, sliding pivot, ball joint or annular linear type forming a first bearing (4), and at least one pivot connection forming a second bearing (5), to a bendable or flexible transmission shaft (3) which crosses them longitudinally, while a connection of pivot, sliding pivot, annular linear or ball joint type forming a third bearing (6) between said transmission shaft and the main body (1) is arranged in proximity to the end of said main body situated in the direction of the steerable case, and while steering is carried out thanks to means acting as a deflection system (7) for the essentially radial relative displacement of the main body (1) in relation to the steerable housing (2) in proximity to their interface, the said main body being optionally equipped on its periphery with bearing pads (9) of diameter less than or equal to the diameter of the drilling tool / bit (16), and the said steerable case being optionally equipped on its periphery with bearing pads (10a) of diameter less than or equal to the diameter of the drilling tool / bit (16) toward its end situated in the direction of the drilling tool / bit, and with fixed or expandable pads or clamps toward its end situated in the direction of the main body (1). Application to boreholes necessitating trajectory control.

The invention discloses a multi-robot formation method, belonging to the field of intelligent control. The method comprises the following steps of: controlling the whole formation motion trail by the leader motion trail, firstly, determining a kinematics model of the leader, and determining the direction of the motion of the leader according to a resultant force of a repulsive force and a gravitational force; creating a motion model of following the leader by the follower, following the leader by the follower according to certain distance and angle, and determining the motion trail of the follower according to a motion model created by the artificial potential field; introducing an AdHoc between the leader and the follower, creating information feedback, and ensuring that no loss occurs in the process of following the leader by the follower. With the method provided by the invention, a multi-robot system can successfully avoid obstacles in the process of finishing tasks to reach a target point, and also can keep initial order in the whole process, implement real-time order control on multiple robots and be more suitable for some occasions where multiple robots are needed for finishing tasks (such as transporting, rescuing and the like) synchronously.

A retractor system and associated method are provided to manage soft tissue around a spinal surgical field. The system includes a hollow retractor with proximal and a distal apertures and an internal circumferential surface connecting the apertures, the surface and the apertures defining an operating volume and the area of the distal aperture defining an operating field. The system may further include other elements such as a handling tool to facilitate placement and removal of the retractor, a bone cutting tool, a trajectory control sleeve to guide the bone cutting tool, and / or an implantable bone plate upon which to position the retractor. A method for spinal surgery, particular from an anterior approach, includes positioning the retractor at a surgical site, and performing a medical procedure through the operating volume provided by the retractor.

The invention discloses an automobile driving assistance system and a control method. The automobile driving assistance system comprises an information acquisition module and an information fusion processor, wherein the information acquisition module comprises a front camera, a front radar and an ultrasonic radar; the information fusion processor is electrically connected with the information acquisition module; and the information fusion processor reads the information of the information acquisition module, performs information fusion processing and outputs a vehicle brake control signal, a speed and distance control signal and a driving track control signal. The front camera comprises an image recognition algorithm module, a light source recognition algorithm module and a lane line recognition algorithm module. The front radar comprises a front obstacle detection module and a front medium-long vehicle distance detection module. The ultrasonic radar comprises a surrounding vehicle distance detection module and a front near vehicle distance detection module.

A method for thermally processing a substrate provides a target substrate temperature and generates a move profile of the substrate within a thermal processing system. An amount of heat is provided to the substrate, and one or more temperatures associated with one or more respective locations on the substrate are measured. A predicted temperature profile is further generated, wherein a predicted temperature of the substrate is based on the amount of heat provided and the one or more measured temperatures. The amount of heat provided to the substrate is further regulated, based on the predicted temperature profile, wherein the substrate is thermally processed generally according to the intended substrate temperature profile. The amount of heat provided to the substrate can be further regulated by controlling a position of the substrate within the thermal processing system.

An extending and retracting device for a vehicle-step apparatus includes a mounting bracket and step bracket. A first arm defines a first end pivotally connected to the mounting bracket and a second end pivotally connected to the step bracket. A second arm defines a first end pivotally connected to the mounting bracket and a second end. A third arm defines a first end pivotally connected to the second end of the second arm and a second end pivotally connected to the step bracket. A trajectory-control assembly is configured to connect the first arm to the second arm and / or third arm to control a “motion” trajectory of the step bracket. A vehicle-step apparatus includes a step member, the extending and retracting device, and a driving device driving the first arm and / or second arm to move the extending and retracting device between an extended position and a retracted position.

A device to provide control of the trajectory of a lighter than air vehicle, such as a balloon, is provided. A lifting device, such as a wing on end, is suspended on a tether well below the balloon to take advantage of the natural variation in winds at different altitudes. The wing can generate a horizontal lift force that can be directed over a wide range of angles. This force is transmitted to the balloon by the tether. Due to this force, the balloon's path is altered depending on the relative sizes of the balloon and the wing. A relatively small amount of power is needed to control the system, possibly with a rudder. As the energy of the wind provides most of the force, the wind's energy does most of the work. The balloon is able to avoid hazards, to reach desired targets, to select convenient landing zones, and to provide other operational advantages. As a result, fewer flights must be terminated early due to an inability to control the trajectory, and it is easier to obtain permission to launch since a planned flight path can be achieved within a greater range of conditions.

The invention relates to a wellbore trajectory control method which is mainly used for solving the problem that the existing wellbore trajectory control method can not well meet the design and control requirements of oil and gas drilling on a wellbore trajectory. The wellbore trajectory control method is characterized by comprising two parts, namely the design of the wellbore trajectory and the control of the wellbore trajectory. By adopting the method, the design and control requirements on the wellbore trajectory which can simultaneously limit the position and the direction of a target point under multi-constraint conditions can be met; and the design and control method is simple and practical, the optimization and the control of the wellbore trajectory are easy, the design efficiency and the quality of a well body can be improved, the time and the cost of drilling operation can be reduced, and the purposes of safe, fast and high-quality drilling and completion operations can be realized.

The invention relates to an automatic parking method based on hierarchical planning. Sensing modules arranged around a vehicle obtain information about obstacles in an ambient environment; a parking space size and a parking space type as well as obstacle existence in the parking space are deduced; when the parking space size meets the need and no object exists in the parking space, initial planning based on numerical optimization is carried out; when the initial planning does not meet the parking need, A* search planning and secondary value optimization planning are carried out based on current vehicle pose and parking space information and environmental obstacle information; and after successful planning, a trajectory control point is sent to a vehicle-mounted controller and the vehicle-mounted controller controls a vehicle steering wheel, an accelerator pedal and a brake pedal, so that the vehicle is parked in the target parking space. In addition, the invention also relates to an auxiliary automatic parking system comprising a sensing module, an HMI display module, a path planning module, and a vehicle path tracking module. Compared with the prior art, the automatic parking method and the auxiliary system have advantages of strong environmental adaptability and accurate trajectory calculation.

The invention provides an automatic rubber cutting robot, and belongs to the field of agricultural machinery. The automatic rubber cutting robot is characterized by comprising a clamping mechanism, a cutting depth adjusting mechanism, a power device and a cutting trajectory control mechanism, wherein the clamping mechanism consists of rotating blocks and supporting rods; the cutting depth adjusting mechanism consists of a rotating disk with scales, a movable positioning wheel and a knife rest; power is provided by stepping motors; and the cutting trajectory control mechanism comprises an upper annular track, a lower annular track, bogie driving mechanisms and a screw and nut mechanism. The automatic rubber cutting robot is tightly clamped to a rubber tree through the clamping mechanism, a cutting trajectory is a helix through the cutting trajectory control mechanism, then line-change cutting of the automatic rubber cutting robot is realized through screws and nuts, finally appropriate cutting depth is adjusted through the cutting depth adjusting mechanism, and automatic rubber cutting is realized. The automatic rubber cutting robot can automatically adjust the rubber cutting depth, can automatically change lines, is adapted to different tree diameters, and has the characteristics of being simple in structure, convenient to control, low in cost, reliable and practical.

The invention discloses a hydraulic aerial cage operation platform trajectory control device. The control device comprises an operation mechanism (A), a detection device (B), a display and alarm device (C), a hydraulic operation loop (D) with pressure compensation, a coordinate location module (E), a forward resolving module (F), a deflection compensation module (G), a speed setting module (H), an algorithm optimization module (I), and a programmable controller (J). The control device provided by the invention can significantly improve the work efficiency of the hydraulic aerial cage, reduce the labor intensity of operators, and lower the energy consumption as well as the use cost.

The invention relates to a well drilling method of a through tubing of a gas lift under-balanced coiled tubing, which is applied in the technical field of petroleum well drilling. The through tubing operation way of the coiled tubing is adopted for carrying out under-balanced well drilling or low-pressure well drilling on target well sections at the lower part in a shaft with a drilled upper borehole, wherein the target well sections are a vertical well, a directional well or a horizontal well. The method has the following effects: the adoption of the through tubing operation of the coiled tubing can form three circulation channels by utilizing the coiled tubing, an oil tube and a sleeve, and a matching pipe column has good universality, does not need a special drilling column or an inner tube and does not need to use a rotary blowout preventer and other special equipment; a gas injection channel and a slurry injection channel are independent mutually, thereby being capable of more conveniently controlling the well bottom pressure and the under-pressure value and using an underground power drilling tool and a slurry pulse measurement system which are applicable to slurry well drilling to carry out well drilling operation and trajectory control; and the method does not need to be connected with a single and can keep the continuous circulation during the tripping process and the drilling process, and realize the full-process controllable under-balanced well drilling operation and the full-process controllable low-pressure well drilling operation.

The invention discloses a thrust steering device of an unmanned aerial vehicle and a control method thereof. The device consists of two steering gears, an X-directional steering gear and a Y-directional steering gear, a universal ball joint, a steering gear pedestal, a joint bearing and an engine base. The control method comprises a control method of a longitudinal attitude of an unmanned aerial vehicle based on the thrust steering device of the unmanned aerial vehicle, a control method of a horizontal attitude of the unmanned aerial vehicle based on the thrust steering device of the unmannedaerial vehicle, a control method of a longitudinal trajectory of the unmanned aerial vehicle based on the thrust steering device of the unmanned aerial vehicle and a control method of a horizontal trajectory of the unmanned aerial vehicle based on the thrust steering device of the unmanned aerial vehicle. Due to the thrust steering control technology based on height differences, cross-track errors and other trajectory information, the invention can realize the better control of the unmanned aerial vehicle, and improve the accuracy of trajectory control.

The invention discloses an electromagnetic distance measurement guide system for a double solenoid set during drilling. The system can provide accurate guide measurement and calculation for well track control of double horizontal wells, communicated wells, U-shaped wells, infill wells, and other complex-structure wells. The system mainly comprises a double solenoid set pup joint, a converted MWD,a ground display system, ground equipment, and the like. The double solenoid set pup joint serving as a magnetic signal emission source is put into a drilled well, two rotating magnetic fields with different frequencies are generated, and the system has the measurement accuracy equivalent to the RMRS. During measurement and calculation, the spacing between adjacent wells and relative azimuth can be accurately detected and calculated without dragging the double solenoid set pup joint. Therefore, the measurement can be finished in short time. The data analysis and adjacent well spacing calculation program of the system can be put underground, only a little of calculated necessary data is transmitted to the ground, and the data transmission time is saved. Meanwhile, by improving the current intensity of a solenoid coil, and the like, the intensity of the magnetic signal emission source is improved, and the distance measurement range of the system is easily increased. The system has the advantages of high guide accuracy, wide distance measurement range, short measurement time, and simple structure, and is an effective high-tech means for the detection and control of the distance between the adjacent wells during drilling.

The invention includes a system and methods for performing surgery on a spinal disc. The system includes an implantable bone plate with an access port to accommodate a bone cutting device, a spinal repair device insertable through the access port of the bone plate configured to occupy a surgically-formed vertebral channel from an anterior surface of the host vertebral body to a site central to an end plate of the host vertebral body, a trajectory control sleeve engageable to the bone plate to direct the trajectory of a cutting device, and a cutting device engageable within the trajectory control sleeve. Methods are directed to forming a vertebral channel and restoring the vertebral body and disc with devices that both repair the bone and the disc.

In some aspects, methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. In other embodiments, a joint assembly for use in modular lower limb device is provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup.

The invention discloses a reentry vehicle trajectory optimization method based on a variable-centroid rolling control mode. The reentry vehicle trajectory optimization method based on the variable-centroid rolling control mode is used for solving the technical problem that the robustness of an existing reentry vehicle trajectory control method is poor. According to the technical scheme, by establishing a one-dimensional variable-centroid rolling control reentry vehicle mathematical model, a one-dimensional variable-centroid rolling control reentry vehicle trajectory optimization model is established, and the one-dimensional variable-centroid rolling control reentry vehicle trajectory optimization model is solved. According to the method, all kinds of constraints in the reentry process of a reentry vehicle are taken into consideration, by introducing control constraints and one-dimensional variable-centroid control ability constraints, the one-dimensional variable-centroid rolling control reentry vehicle trajectory optimization model with a guidance system matched with a control system is established, meanwhile, the trajectory optimization model is solved through a simulated annealing algorithm, and thus the local convergence defect of a classic optimization method is overcome, a nominal trajectory suitable for the one-dimensional variable-centroid rolling control mode is acquired while process constraint and boundary constraint conditions are met, and the robustness of the guidance and control systems is improved.

The invention discloses a fixed time formation control method based on a finite time disturbance observer and belongs to the field of multi-unmanned-ship cooperative control. The method comprises thefollowing steps: establishing dynamics and kinematics models of a piloted unmanned ship and a following unmanned ship, establishing an expected trajectory model of a piloted unmanned ship subsystem, and designing a fixed time tracking controller of the piloted unmanned ship subsystem in combination with an integral sliding mode surface so as to realize piloted unmanned ship trajectory control; designing a virtual speed of the following unmanned ship subsystem by adopting a backstepping method to determine a position error between the piloted unmanned ship and the following unmanned ship, and adjusting a tracking error between the piloted unmanned ship and the following unmanned ship by designing a tracking controller of the following unmanned ship; adopting a finite time disturbance observer and providing a fixed time formation control strategy based on a finite time observer in a complex environment in combination with a fixed time control law. Therefore, accurate formation control between the piloted unmanned ship and the following unmanned ship is realized, the maximum convergence time is calculated, the thought of a finite time disturbance observer is provided, and rapid and effective identification of external disturbance can be realized, so that the robustness of an unmanned ship formation system is improved.

The invention relates to a crosshead shoes driving reducer for a multi-joint robot. The crosshead shoe driving reducer for the multi-joint robot comprises input shafts, output shafts, reducer bodies, crosshead shoes, transmission balls, track controllers and drive balls. The input shafts, the crosshead shoes, the track controllers and the output shaft are installed in the reducer bodies. Transmission tracks used for the installation of the transmission balls are arranged in the crosshead shoes. The transmission balls move in the transmission tracks to convey the movement of the input shafts to the track controllers. Moving track used for the installation of the drive balls are arranged on the lower surfaces of the track controllers. The track controllers adjust the output of the output shafts through the drive balls. According to the crosshead shoe driving reducer for the multi-joint robot, automatic adjustment for complete consistency of movement and eccentric magnitude of an eccentric shaft is achieved, the tracks of the transmission balls and the tracks of the track controllers of the reducer are completely consistent, the output of the reducer is stable, and the mechanical wear rate is low.

The invention discloses a rotary steering tool controlling method which can be used for determining the control mode and steering parameters of a steering tool, achieving automatic control over a hole trajectory, improving the working efficiency of the steering tool, and meeting the requirement of directional drilling for steering control. The method comprises the steps of acquiring surveying data and monitoring the trajectory. By the adoption of the method, steerable drilling efficiency is improved, hole trajectory control precision is improved, and the requirement of extended-reach well drilling, complicated geology structure horizontal well drilling and geosteering drilling for trajectory control can be met.

A time-of-flight mass spectrometer comprising an accelerating portion that includes a repeller electrode and an extractor electrode, in which an inner surface on the extractor electrode side of the repeller electrode has a curved shape, the extractor electrode is a flat plate with a hole in the center or a plate structure including a mesh structure, and the accelerating portion converges a distribution of times of flight accompanying deviations in the acceleration start position of ions and also performs trajectory control by correcting a distribution of the introduction energy of ions. In accordance with the above-described structure, it is possible to realize both functions of a conventional accelerating portion and ion lens system with only an accelerating portion and it is possible to simplify and reduce the size of the time-of-flight mass spectrometer.

The invention discloses a full decoupled three-dimensional moving parallel robot mechanism. The mechanism is characterized in that the mechanism comprises a moving platform, a fixed platform and three branched chains used for linking the two platforms, wherein the first branched chain comprises a spherical pair A1, a rod length L1, a spherical pair B1, a rod length L2 and a revolute pair C1 from top to bottom; the second branched chain comprises a revolute pair A2, a rod length L3, a revolute pair B2, a rod length L4 and a cylindrical pair C2 from top to bottom; and the third branched chain comprises a revolute pair A3, a rod length L5, a revolute pair B3, a rod length L6 and a cylindrical pair C3. The mechanism working platform of the invention can be used to realize the three-dimensional translational motion output, the mechanism is simple, the preparation and installation are easy, the transmission accuracy is high, the cost is low; the working space is larger, the transmission characteristic is good; furthermore, the mechanism motion is fully decoupled, the forward and inverse kinematics are both analytical solutions, and a series of technical problems of trajectory planning, trajectory control, trajectory correction and the like are simplified.

The apparatus for cutting a flat glass work piece along a curved dividing line includes a laser generating a laser beam having a linear beam profile and an optical system with a scanner for producing a curvilinear focal point from the laser beam. The apparatus also moves a cold spot along the curved dividing line following the curvilinear focal point. A trajectory control device controls the position of the curvilinear focal point on the curved dividing line via actuators. A profile control device controls the contour of the curvilinear focal point according to trajectory data from the curved dividing line, so that all points of the curvilinear focal point lie on or coincide with the curved dividing line. The apparatus adjusts the length of the curvilinear focal point by adjusting scanning amplitude of the scanning motion.