Abstract: The application describes a control pendant for controlling a multi-segment patient table to assume a variety of different positions or configurations. The pendant has safety features including automatic shutoff of power to the keys under selected conditions and backlighting of the keys when power is being supplied (e.g., when keys are operational) to provide improved visibility in low-light environments. The control pendant further has an ergonomically effective shape and key board layout. An icon representing the table and its segments is located on the keyboard, and the keyswitches are arranged with respect to the icon to facilitate rapid and accurate visual identification of keys which operate particular table segments.

Abstract: According to the present invention, a stepping motor driving apparatus having a rotor and a stator in n (an integer equal to or larger than 2) phases for moving a moving body is provided. The stepping motor driving apparatus includes a driver for selectively supplying to the stator a first current pattern for rotating the rotor at a first pitch and a second current pattern for rotating the rotor at a second pitch different from the first pitch based on a drive switching signal. The driver switches the first current pattern and the second current pattern at a point where a torque generated by the first current pattern is equal to a torque generated by the second current pattern and supplies the first current pattern or the second current pattern to the stator.

Abstract: A sliding mode controller is disclosed for controlling the motion of a read/write head actuated by a voice coil motor over a rotating magnetic disk storage medium. The magnetic disk comprises a plurality of concentric data tracks recorded thereon wherein each data track comprises user data and servo data. The sliding mode controller operates by multiplying a head position error phase state and a head position error velocity phase state by respective switching gains to force the phase states to follow a predetermined phase state trajectory. The phase state trajectory can be defined by a single linear segment, a variable linear segment, multiple linear segments over the entire region of excursion, or optimum parabolic acceleration and deceleration segments. Switching logic, responsive to the phase states and a trajectory segment value .sigma., switches between positive and negative feedback gains to drive the phase states toward a current trajectory segment. A .sigma.

Abstract: A servo controller for servo-controlling an operative device, the servo controller is provided with an actuator having a motor for actuating the operative device; a sensor for detecting an operational state of the operative device; a comparator for receiving a detected operational state of the operative device from the sensor and comparing the detected operational state with a target operational state to produce a control signal; and a driver provided between the actuator and the comparator for driving the actuator in accordance with the control signal, the driver including a negative impedance circuit with respect to the actuator.

Abstract: A time-based control system (10) for controlling a process incorporating external devices using a predefined response profile (13). The response profile (13) is continuously compared to the actual response of the controlled device (11). A plurality of sensor modules (24) is used to monitor the actual magnitude and direction of change of selected quantities during the process. If the response it outside the user-defined maximum allowable error, appropriate measures are taken to either correct the error, halt the process, or proceed with the process in a time-based mode. The proper response and detection of errors of the controlled device (11) is independent of load, rate, temperature and other external stimuli. The time-based control system (10) can detect errors caused by higher level equipment such as the sensor modules (24). Thus, the time-based control system (10) can detect when any portion of the time-based control system (10) or the controlled device (11) malfunctions.

Abstract: A sliding mode controller is disclosed for controlling the motion of a magnetoresistive (MR) read head actuated by a voice coil motor over a rotating magnetic disk storage medium. The magnetic disk comprises a plurality of concentric data tracks recorded thereon wherein each data track comprises user data and servo data. The sliding mode controller operates by multiplying a head position error phase state and a head position error velocity phase state by respective switching gains to force the phase states to follow a predetermined phase state trajectory. The phase state trajectory can be defined by a single linear segment, a variable linear segment, multiple linear segments over the entire region of excursion, or optimum parabolic acceleration and deceleration segments. Switching logic, responsive to the phase states and a trajectory segment value .sigma., switches between positive and negative feedback gains to drive the phase states toward a current trajectory segment. A .sigma.

Abstract: The recursive profile generator of a general purpose position control system relies only upon current state and target state information in generating the path of movement for the armature of the servomotor. The profile generator employs a convergent algorithm for calculating the acceleration necessary to reach each control point or target position. By ignoring previous state information, the profile generator makes the use of reduced computing power possible and readily accommodates changing target state conditions.

Abstract: A vehicle operator identification verification system that correlates an operator identification code with certain vehicle conditions such as seat position and side mirror position. A personalization command system receives the operator identification code from a key fob transmitter, and correlates the identification code with stored identification codes. The command system will then initiate various adapting systems that correspond to the received identification code. Further, the command system will cause various personalization devices, such as seats and mirror positioning devices, to be actuated to a position corresponding to a stored position associated with the received operator identification code. If one or more of the various personalization devices are adjusted by the vehicle operator a certain percentage beyond the settings that correspond to the received operator identification code, system will prevent the adapting systems from adapting to the current vehicle operator.

Abstract: A motor control system (10) for controlling a multiple number of motors, each motor having a multiple number of phases. System (10) can be used to dynamically vary the step sizes from microsteps to full steps (i.e. "syncro-stepping the motor").

Abstract: A method and system for controlling an electromechanical actuator assembly and measurement of actuator position via two drive wires to the actuator assembly. The system includes sensing the changing inductance of the actuator through the electrical drive line and associating the sensed inductance with a corresponding position of the actuating member.

Abstract: A system for controlling the operation of a tele-operated machine uses a sensor which senses the angular orientation of the joint, converts the angular orientation to a required length of the linear actuator (piston and cylinder) to obtain the then current length. A controller inputs the desired position of the joint and the system defines the length of (or flow to) the linear actuator necessary for the joint to be in the desired position based on a comparison of the desired and actual lengths of the actuator and sets the length of (or flow to) the actuator based on the required length (or flow) necessary to move the joint into the desired position i.e. to extend the length of the actuator to that required for the desired movement of the joint.

Abstract: A method for the adjustment of a disk cam, whereby an electric motor turns the disk cam out of a prescribed initial position by a prescribed rotational angle, comprising the steps of providing a disk cam having two markings in a prescribed angle from one another defining a target sector; sensing said two markings during the rotational motion of the disk cam by a sensor stationarily arranged outside the disk cam; in the initial position of the disk cam arranging the sensor having an angular spacing from a target radius of the target sector in rotational direction that is aligned to the rotational angle; identifying the running time of the passage of the markings at the sensor; and arresting the motor in response to the sensing of the second marking and supplying the motor with electrical energy for turning it in the opposite rotational sense, the amount of this energy dependent on the respectively identified running time, being taken from an energy/running time characteristic for the return of the disk cam to

Abstract: A fault management apparatus and method are described for a system that includes at least one electro-mechanical or electro-hydraulic component, such as a system valve or main discharge pump in a process plant or water transmission line. An actuator is electrically coupled to the component for application of control signals to selectively actuate or de-actuate the component. A standby power supply, in the form of a uninterruptible power supply (UPS) stores sufficient electrical energy to energize the valve and/or the discharge pump to change the states thereof from one operational state to another. The UPS has sufficient electrical capacity to close a system valve to its fail-safe condition. The actuator can be actuated in a number of different ways, including sensing of failure of main power, manual activation or sensing of some emergency condition.

Abstract: A highly flexible electronic control system which is readily reconfigurable or reprogrammable to suit more than one machine, such as more than one laundry appliance. Control parameters are input to the controller over a communications link, which may be an optical communications link. The controller is automatically adaptable to particular ones of a plurality of different machines, for example laundry appliances in the form of a two-speed washer, a one-speed washer, an electric dryer and a gas dryer. The controller determines the particular appliance by applying signals to particular terminals of a connector connected to a machine to be interrogated. Other terminals are monitored to logically recognize the particular appliance. Thereafter, the control system implements functions appropriate to the particular appliance.

Abstract: An integrated pilot protection and restraining system having a circular bearing structure configured to surround the neck of the wearer, and a non-conformal helmet which is detachably coupled to and rotatably supported by the bearing structure. An automatic helmet rotation system is provided for controlling rotation of the helmet in response to movements of the wearer's head in order to maintain the helmet in a predetermined position with respect to the wearer's head. The system further includes a restraining anchor disposed on a rear portion of the bearing structure at its non-rotating base proximate to the base of the wearer's neck. The restraining anchor is coupled to a retractable restraining device.

Abstract: A permanent magnet rotor is connected to an output shaft and has more than one pair of magnetic poles. A stator has three phases connected in Y-connection including a first phase, a second phase, and a third phase. Each phase has as many series-connected coils as there are pairs of the poles of the magnet rotor. A timer circuit outputs a first signal for a predetermined length of time when a target angular position of said rotor is selected. On the basis of a present angular position of the rotor and the target angular position of the rotor, a rotation direction commanding circuit outputs a second signal indicative of the rotation direction of rotor. In accordance with the signal, a current polarity control circuit supplies a first current to the first phase (subcoils) in accordance with the first signal and a second current to the second and third phases (main coils) in accordance with the second signal so as to drive the rotor into rotation to the target angular position.

Abstract: A medical apparatus has an apparatus part which is motor-adjustable relative to a surface in a direction of at least one degree of freedom. A sensing card means comprising a plurality of sensing cards forms a matrix-like grid which is attachable to the surface in a range of adjustment of the apparatus part. The sensing cards each output a signal given the presence of a subject in the region of the respective sensing card. The signals output by these sensing cards are evaluated in dependence upon the desired adjustment direction in such a way that only the sensing card or cards of the matrix-like grid lying in the desired adjustment direction is or are taken into consideration. An adjustment of the apparatus part in the desired adjustment direction is suppressed when at least one sensing card taken into consideration outputs a signal indicating the presence of a subject.

Abstract: Disclosed is an optical disk handling system having two control system to provide the motions necessary to move optical disk cartridges from storage holding cells to an optical drive. During initialization, the cartridge handling system uses shaft encoders, along with current or voltage feedback from the motors, to calibrate the home locations of the mechanisms. The system determines the home position for vertical movement of the transport as well as the top and bottom positions used for the translate operation. The system then calibrates the plunge movement, the flip movement, and the translate movement. Finally, the system determines whether the path for all the movements is free of obstructions.

Abstract: A shuttle control for a storage and retrieval machine has a supervisory control mounted on the base of the storage and retrieval machine and a shuttle control mounted on the carriage of the storage and retrieval machine. The supervisory control receives shuttle operating commands and information signals and provides operating instruction signals for the shuttle to the shuttle control. The shuttle control receives the operating instruction signals from the supervisory control, produces operating information signals to the supervisory control, and controls the operation of a shuttle motor drive. A circuit having sliding contactors moving with the carriage on vertical slide bars mounted on the mast transmits operating instruction signals and information signals between the supervisory control and the shuttle control at a maximum transmission rate limited by the problems of transmitting the signals through the sliding contactors.

Abstract: A circuit for controllably and finely driving a stepping motor, which moves a magnetic head over a magnetic disk, by using the combination of current values which are individually approximated to a sine wave and a cosine wave. The circuit allows a magnetic head to move at a high speed across the tracks of a magnetic disk toward a desired track, while after such a movement of the head lowering the remaining oscillation frequency of the stepping motor to allow servo to be applied immediately, thereby enhancing rapid operations of the apparatus.

Abstract: A positional information generating apparatus comprises a code disposed on a main track on which M-sequence codes form a cyclic code of different code words, and sensors disposed for attaining relative movement with reference to a direction of the main track. The code word is detected from the main track by the sensors for generating positional information. A sensor array for the main track in which a greater number of sensors than the number of elements of a code word are disposed over a span corresponding to a length of one code word in such a way that at least one sensor is located on each code element to define a code word to be read. A relative position detector is provided for detecting a relative positional relationship between the sensor array for the main track and the main track.

Abstract: The precise and smooth control of the hydraulic fluid supplied to a hydraulic system, such as the lifting cylinders of a turret stockpicker, under varying operating conditions includes an optical encoder on the operator's control handle connected to an electronic control of a hydraulic pump motor, which s initially operated at a predetermined minimum speed, and a hydraulic valve which provides the initial control of hydraulic fluid under the control of an operator's handle. Because the pump is initially at a low speed, greater efficiency of the system is realized, an important feature in a battery operated vehicle. As the operator moves the handle from the off or neutral towards the fully open position, the hydraulic valve will open and reach its fully open position as the handle passes approximately the one-third on position.

Abstract: The generator comprises means (2) for adjusting and an associated calculator, the adjusting means (2) comprising an endless rotative knob (4) capable of rotating through a given angle of which the position of the element to be controlled is a direct function, and pulse generating means (15, 17) generating a number of pulses which is proportional to the angle of rotation of the knob (4) and means for counting said number, and a selector of the direction of rotation. The calculator is programmed to determine, from the number of pulses counted, a proportion of the path the movable element must travel through realtive to end-of-travel means. The instruction determined by the calculator is then transmitted to a motor driving the movable element and to a position copying device. The invention permits obtaining a fine continuous, or substantially continuous, adjustment by a simple rotation of the knob. Application in particular to the control of opening elements of automobile vehicles.

Abstract: A stepping motor control and driving circuit is provided to control stepping motors used to move a manipulator robot. The stepping motor control receives digital desired velocity and acceleration data from a controller computer and uses those instructions to generate and maintain appropriate control signals. The drive circuit, operating in response to the control signal, uses a summing amplifier responsive to output voltage and current to control the output impedance of the circuit.

Abstract: A parallel redundant actuator system of the kind wherein the signal in each of a plurality of lanes (31A, 31B, 31C) comprises the difference between a demand signal and a signal indicating the position of an output member of the system and the output member (3) takes up a position determined by the output of a summing arrangement (21) for the outputs of the lanes and wherein between the input of each lane and the output of the summing arrangement each lane has a non-linear input/output characteristic whose slope over a range of values of input in which changes of input due to failure of another lane occur is greater than if the characteristic were linear over the range of values of input over which the lane is capable of operation. The arrangement is intended to reduce the change in position of the output member which occurs on failure of a lane.

Abstract: Device for moving a member linearly is composed of at least two permanent magnets, a driving coil, circuit for supplying the driving coil with current, a moving member, and a detector. The two permanent magnets form magnetic field of first direction in first space and field of second direction being reverse to the first direction in second space. Since the driving coil includes a portion disposed in the first space and a portion disposed in the second space, a movement of a given direction is created based on the current flowing through the driving coil. The first and second spaces include a region where the strength of the magnetic field varies gradually. Therefore the relative movement of the driving coil and the permanent magnets can be detected using the detector. The moving member is connected to either the driving coil or the permanent magnet a pen or the like can thus be moved linearly if attached to the member.

Abstract: A linear servo system including a linear motor with a moving permanent magnet the flux of which interacts with current flow through a stator winding. A position servo loop controls the position of the permanent magnet and preferably includes a position transducer located within the motor air gap. The servo system when used in combination with a disk drive preferably includes a coarse/fine positioning program to first move to the desired disk track area and to then move to the center of the disk track. The motor winding located in the air gap can be made of iron or copper clad iron to reduce the size of the effective air gap.

Abstract: Apparatus is disclosed for controlling the current flow through first and second loads, such as motors, to thereby control the direction and speed of the motors. The apparatus comprises a first power amplifier connected to the first motor and including an oscillator for generating an oscillator signal having a predetermined frequency of oscillation and circuitry responsive to the oscillator signal for developing a first control current through the first motor. A second power amplifier is connected to the second motor and includes circuitry responsive to the same oscillator signal for developing a second control current through the second motor. The oscillator signal is coupled from the oscillator of the first power amplifier to the circuitry of the second power amplifier, whereby the second power amplifier is slaved to the first power amplifier.

Abstract: In apparatus for controlling the speed and torque of a multiphase a.c. motor in accordance with digital control signals, a first regulation circuit regulates the frequency of the a.c. electrical signal applied to the motor and another regulation circuit regulates the voltage of the a.c. signal. Both regulation circuits are controlled by digital control signals in a series of discrete steps over a range of control values and the control signals are supplied periodically to the regulation circuits. The speed and torque are controlled in accordance with an algorithm relating speed and torque to the frequency and voltage of the source of electric power which is applied to the motor, calculated by computing apparatus on a periodic basis. In one embodiment the position of the magnetic flux of the stator is controlled directly.