Abstract: A gear reducer includes a rotatable planet carrier supporting at least one planetary gear for axial rotation thereon, a stationary ring gear extending around and engageable with the at least one planetary gear, and a moveable ring gear extending around and engageable with the at least one planetary gear. A pitch diameter of the stationary ring gear is substantially identical to a pitch diameter of the moveable ring gear.

Abstract: A contactless rotary shaft position sensor provides for precision computation of shaft angle for a wide range of input shaft rotational angles. The sensor includes two annular two-pole magnets which are connected by a precision, motion-transmitting gear train. An optional second gear train between one of the magnets and the input shaft can provide additional angular rotation scaling to accurately measure either fractional or a large number of multiple turns of the input shaft. The gear ratios are selected such that one of the magnets does not rotate more than one revolution. Pairs of ratiometric Hall-effect or magnetoresistive sensors provide differential voltage signals which are used for sensing angular position of each magnet over a full 360 degrees of rotation. The single-turn magnet provides an absolute, coarse indication of input shaft rotation with a typical accuracy of 2%. The gear ratio between the magnets produces several turns of the second magnet for each turn of the single-turn magnet.

Abstract: A contactless rotary shaft rotation sensor includes a two-pole annular magnet attached directly to the shaft, pairs of diametrically opposed magnetic field sensors, and electronic processing circuits to produce linear output signals proportional to shaft speed and position. The annular magnet has two diametrically opposed poles on its outside circumference and is magnetized with a magnetic iron pole piece temporarily placed through its inner diameter to magnetically shape the poles and provide an extremely linear flux variation over plus and minus sixty degrees from the neutral position between the poles. Positioning one pair of magnetic field sensors around the magnet enables provision of a voltage signal that is proportional to the angular position and/or speed of the shaft through 120 degrees of rotation. Placing three pairs of magnetic field sensors around the magnet with 120-degrees of spacing provides three linear sensor output segments, each with a useful range of 120-degrees of shaft rotation.

Abstract: An electromechanical actuator includes a brushless motor driving an output shaft through a torque-amplifying geartrain. An integrated motor commutation sensor includes an annular, two-pole magnet rotating with the motor and two ratiometric Hall-effect sensors at right angles around the magnet. The sensor signals are utilized by a processor to compute motor angle over 360 degrees rotation. An integrated output position sensor includes a second annular magnet rotating with the output shaft, and a second pair of Hall-effect sensors providing signals to the processor for computation of output shaft absolute position. The commutation magnet angle is predicted from the output shaft position, and compared to the motor's sensed rotational angle. The difference is used to correct the output shaft sensed angle with improved accuracy proportional to the gear ratio. The processor also provides logic signals to control motor winding current and provide closed-loop control of actuator position.

Abstract: A contactless rotary shaft position sensor provides for precision computation of shaft angle for a wide range of input shaft rotational angles. The sensor includes two annular two-pole magnets which are connected by a precision, motion-transmitting gear train. An optional second gear train between one of the magnets and the input shaft can provide additional angular rotation scaling to accurately measure either fractional or a large number of multiple turns of the input shaft. The gear ratios are selected such that one of the magnets does not rotate more than one revolution. Pairs of ratiometric Hall-effect or magnetoresistive sensors provide differential voltage signals which are used for sensing angular position of each magnet over a full 360 degrees of rotation. The single-turn magnet provides an absolute, coarse indication of input shaft rotation with a typical accuracy of 2%. The gear ratio between the magnets produces several turns of the second magnet for each turn of the single-turn magnet.

Abstract: A warning system for predicting collision between two or more relatively moving objects, comprising a position determination element for determining at a predetermined frequency for each one of the objects a respective location in space relative to a fixed frame of reference so as to produce successive frames of positional data for each object and a memory element coupled to the position a determination element for storing the successive frames of positional data. A path analysis element is coupled to the memory element and is responsive to successive respective locations of each of the objects for computing a trajectory for each object relative to the fixed frame of reference while an intersection analysis element coupled to the path analysis element and responsive to each one of the computed trajectories predicts whether two or more trajectories will intersect. A warning element is coupled to the intersection analysis element for warning respective ones of the objects of an impending collision.