Abstract: A vertical component or the like of a floor reaction force moment to be applied to a robot 1 is defined as a restriction object amount, and the permissible range of the restriction object amount is set. A provisional motion of the robot that satisfies a predetermined dynamic balance condition is determined on a predetermined dynamic model, and if a restriction object amount determined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the angular momentum changing rate of the robot from the provisional motion while limiting the restriction object amount to the permissible range on the dynamic model.

Abstract: A scheduling system and method for moving plural objects through a multipath system described as a freight railway scheduling system. The scheduling system utilizes a cost reactive resource scheduler to minimize resource exception while at the same time minimizing the global costs associated with the solution. The achievable movement plan can be used to assist in the control of, or to automatically control, the movement of trains through the system. Deadlock is avoided by controlling the entry of trains into congested areas, and may be automatically implemented by the use of traffic flow analysis algorithms.

Abstract: A system and method for controlling the movement of plural trains over a rail network, where the rail network is divided into a plurality of planning areas with a boundary element of common track between adjacent planning areas, using a local coordinating agent for controlling the movement of the trains through the boundary elements.

Abstract: A method of cooperative vehicle control in which a high level controller includes a high level algorithm that manages the overall control strategy of the vehicle and decides which vehicle subsystems to control, with what timing and with what authority. Depending on the given situation at hand, including existing or potential conflict between sub-algorithms in the high level controller, the status of the various subsystems and the effectiveness of additional change of these subsystems, desired intervention speed, and environmental repercussions in the total vehicle system, the high level controller may decide to use differing control strategies to meet performance characteristics of the total vehicle system as well as maintain control of vehicle stability, traction characteristics and overall body motions.

Abstract: A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.

Abstract: A system and method for off route processing is disclosed. The system and method can be used to provide information when an off route condition occurs. The system and method can include provisions to make modifications in the way navigation information is displayed. The system and method can also provide a selectable re-route mode and selectable re-route information.

Abstract: The system includes a detecting section detecting an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.

Abstract: The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

Abstract: A roll control system (16) for an automotive vehicle (10) is used to actively detect if one of the plurality of the driven wheels (12) is lifted. The system generates a pressure request to determine if the wheel has lifted. By comparing the change in wheel speed of a driven wheel to a change in wheel speed threshold the wheel lift status can be determined. The wheel speed change threshold may be dependent upon various vehicle operating conditions such as powertrain torque, braking torque and/or longitudinal force on the vehicle.

Abstract: Provided is a foot structure for a humanoid robot capable of effectively keeping its balance in a pause state or action. The foot structure includes a support; a plurality of lower structures having an upper member connected to a bottom of the support; a plurality of lower members having a plurality of independent portions each movably connected to the upper member; and a revolute joint for coupling the upper member and the lower member. Since a contact between the foot structure and the floor is smoothly made, a shock is prevented from being transferred to a body of the humanoid robot. Also, a vibration generated when the humanoid robot steps on the floor is eliminated, so that the humanoid robot can pose a stable and smooth gate.

Abstract: A remote position monitoring system, method, and computer-program product using a global position satellite receiver and information from at least two global position satellites to determine a position of a mobile object with the global position satellite receiver and report via Internet the position of the mobile object to a recipient in search of the mobile object. A remote position reporting device of the monitoring system can be part of or attached to any mobile object such as a child, a skier, a car, and expensive items. The remote position reporting device includes a global positioning system (GPS) receiver, monitoring software and an Internet access module. The monitoring software (e.g., a dynamic link library) supports multiple data formats and multiple protocols to communicated the position information. The GPS receiver provides the monitoring software with position information at prescribed times, and the monitoring software records the position information.

Abstract: A chip transfer apparatus includes a first carrier for feeding chips and a second carrier for carrying works on it. The transfer apparatus also includes a transfer engine including two or more coaxial revolvers, which can revolve coaxially with each other. Each of the coaxial revolvers includes an end-effector for receiving a chip from the first carrier and transferring the received chip onto a work on the second carrier. The end-effectors of the coaxial revolvers are arranged in a circle coaxial with the revolvers. The end-effectors sequentially receive chips from the first carrier at substantially zero speed relative to the first carrier and transfer the received chips onto works on the second carrier at substantially zero speed relative to the second carrier. While the end-effectors are revolving, they undergo periodic speed change control for timing adjustment and speed adjustment for the chip reception and transfer.

Abstract: A hydraulic excavator periodically measures its current location at predetermined time intervals by the GPS device in an inoperative state where its engine key is in the off position and sends the current location data and time data to a management server by a main controller and communicator. The management server receives the periodically sent location data at its communicator and successively stores it in its memory. The current location data and the measurement time data to provide a location confirmation service by a location information provider. Changes in location can be confirmed on a map, the movement of the hydraulic excavator can be tracked, and assistance can be given for confirmation of location and prevention of theft.

Abstract: A method for autonomously controlling a vehicle includes establishing decision variables for maneuvering the vehicle. Behavior functions are established for behaviors of the vehicle as a function of at least one of the established decision variables. These behavior function give a score which may be weighted, indicating the desirability of engaging in the associated behavior. A summation of the weighted behavior functions can be solved while the vehicle is operating to determine the values of the decision variables giving the highest summation of scores. In a preferred method, an optimal structure for the behavior functions and summation solution is taught. The method then guides the vehicle in accordance with the determined decision variable values.

Abstract: A controller for a work implement (10, 30) of a construction machine (1, 3) comprising: a manipulating signal input unit (21) including a target value computing section (25) for generating an operation target value (V1) for the work implement (10, 30) based on a manipulating signal (F, Fa) inputted from a manipulating unit (2) for manipulating the work implement (10, 30), a target value correcting unit (22, 37) for correcting the generated operation target value (V1), and an instruction signal output unit (23) for outputting an instruction signal to an actuator (19, 34) for driving the work implement (10, 30) according to the corrected target value (V2); wherein the target value correcting unit (22, 37) comprises a vibration suppressing unit (29) for correcting the operation target value (V1) to another target value to suppress vibrations of the construction machine (1, 3) according to the vibration characteristics, which vary according to a posture of and/or a load to the work implement (10, 30).

Abstract: A display system and method for an aircraft simultaneously displays the terrain under the flight plan, or under the current track of the aircraft, as both a two-dimensional lateral situation view image and as a perspective vertical situation view image. This provides improved tactical flight planning, and that does not erroneously show the flight plan passing through the displayed terrain.

Abstract: A method for determining a target exhaust temperature for a gas turbine including: determining a target exhaust temperature based on a compressor pressure condition; determining a temperature adjustment to the target exhaust temperature based on at least one parameter of a group of parameters consisting of specific humidity, compressor inlet pressure loss and turbine exhaust back pressure; and adjusting the target exhaust temperature by applying the temperature adjustment.

Abstract: A method for controlling a vehicle using a nonlinear error-based control is provided. Various vehicle speed requests are arbitrated and a transfer function including an integrator is applied to the winner of the arbitration. The integrator is applied regardless of the winner of the arbitration, and it is the only integrator used in the control method. This provides an advantage over methods and systems that require resetting or switching among integrators.

Abstract: A timing device monitors an estimated time of arrival (ETA) for an object in a process of traversing a predetermined range of distance by computing the estimated time of arrival based on a time the object has spent completing at least one interval during the course of traversing the distance. The computation is invoked each time a signal is received by the timing device indicating the completion of an interval. The signal can be sent by a user of the device of by a transmitter placed near an end of the interval.

Abstract: An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.