Abstract: An obstacle detection device controls distance sensors to cause the distance sensors to transmit a transmission wave during a fixed time period, measures a first time which has elapsed from a time at which the transmission starts to a time at which a reflected wave is detected, and a second time which has elapsed a time at which the above-mentioned transmission is stopped to a time at which the reflected wave disappears, and determines that an obstacle exists when a time difference between the above-mentioned first time and the above-mentioned second time is equal to or shorter than a predetermined allowed time. Therefore, the obstacle detection device can reduce the time required for the determination to at least one-half that provided by a related art technique, and improves the accuracy of the detection of an object moving at a relatively high speed.

Abstract: An acoustic sensor acquires acoustic data corresponding to a rotating component of a machine during operation of the machine. The acoustic sensor can be configured to enhance acoustic signals in a range of frequencies corresponding to at least one evaluated condition of the rotating component and/or enhance the acoustic signals received from a directional area narrowly focused on the rotating component. The rotating component is evaluated using the acoustic data acquired by the acoustic sensor. In an embodiment, the machine can be a vehicle traveling past a parabolic microphone. In a more specific embodiment, the vehicle is a rail vehicle and the rotating component is a railroad wheel bearing.

Abstract: Implementations and techniques for measuring 3D coordinates of a transmitter using a receiver and a reflector are generally disclosed. The receiver may be attached asymmetrically to the reflector.

Abstract: An aspect of the present invention is drawn to method of determining a location of a submersible vehicle. The method includes obtaining first bearing information based on a location of a ship at a first time relative to the submersible vehicle and receiving broadcast information from the ship, wherein the broadcast information includes location information related to a second location of the ship at a second time, a velocity of the ship at the second time and a course of the ship at the second time. The method further includes obtaining second bearing information based on the second location of the ship at the second time relative to the submersible vehicle, obtaining a velocity of the submersible vehicle at the second time and obtaining a course of the submersible vehicle at the second time.

Abstract: An object detection and tracking support system includes a setting unit, a transmission level obtaining unit, a propagation loss function estimating unit that, based on various information relating to a transmitter and a receiver stored in the setting unit, calculates the propagation loss as a propagation loss function expressed as a function of the distance and the direction viewed from the receiver, a target strength obtaining unit that, in regard to an object of object information stored in the setting unit, extracts a target strength of the object from an external database; and a detection signal level function estimating unit that, based on transmission level information obtained by the transmission level obtaining unit, a propagation loss function calculated by the propagation loss coefficient estimating unit, and a target strength extracted by the target strength obtaining unit, determines a detection signal level function, for display on an external display unit.

Abstract: According to a present invention embodiment, safety is enhanced for a non-eye-safe limited-range laser sensing system. The laser sensing system typically has an operating range limited to a well-defined spatial interval. A range measurement is utilized to control emissions of the non-eye-safe laser. In particular, when the range to a target is outside the designed spatial interval defining the operating range of the laser sensing system, transmission of the non-eye-safe laser beam is disabled or rendered non-hazardous. In other words, the transmission of the non-eye-safe laser beam is disabled in response to no detection of a hard target within the operating range of the laser sensing system, or when an object is detected between the laser sensing system and the spatial interval that defines the operating range. The target distance may be tracked to change the location (and possibly, width) of the adaptive spatial interval defining the operating range.

Abstract: A distance measurement apparatus arranged to measure the distance to an object (106) comprising a first sonic transmitter (100) arranged at a first distance (h1) from that object and a second sonic transmitter (102) arranged at a second distance (h2) from that object (100), wherein the first and second distances are different, the first (100) and second (102) transmitters being controlled by processing circuitry (108) and the first and second transmitters being arranged such that sonic pulses emitted, in use, thereby are incident upon that object (106) and the apparatus further comprising at least one sonic receiver (100) arranged to receive a plurality of reflected sonic pulses and generate an output therefrom and the processing circuitry (108) being arranged to receive the output, determine the times since the first and second pulses were emitted and generate a distance to that object from the determined times.

Abstract: Disclosed is an active sonar system capable of estimating a direction and a range of a target by using a sound pulse. A target range error can be estimated by the active sonar system, by applying a principle that a sound pulse used to detect an underwater target with consideration of a vertical structure of a sound velocity in water is reflected and refracted through a multipath not a linear path.

Abstract: A method for determining an ultrasonic detecting cycle is provided. Firstly, an initial detecting cycle T is set. Then, a first sensing wave is generated. Then, a first time-of-flight value is calculated corresponding to the first sensing wave. After the first sensing wave has been generated for the initial detecting cycle T, a second sensing wave is generated. Then, a second time-of-flight value is calculated corresponding to the second sensing wave. Afterwards, the second time-of-flight value is compared with the first time-of-flight value. If a difference between the second time-of-flight value and the first time-of-flight value is smaller than a threshold value, the initial detecting cycle T is determined as the ultrasonic detecting cycle.

Abstract: An inspection apparatus for detecting defects in a rail joint bar includes an ultrasonic transducer mounted on an actuator for moving the transducer into and out of engagement with a vertical surface of the head of the joint bar. A laser profile system and an encoder output linear position data corresponding to the position of a joint bar relative to the position of the inspection apparatus. A system controller responsive to the identification of the presence of a joint bar or obstructions, outputs control information to the transducer actuator assembly to position the transducer assembly relative to the joint bar.

Abstract: In an acoustic wave sensor for detecting a distance to an object and an orientation where the object is located with using acoustic waves, an acoustic wave generating device generating an acoustic wave by applying thermal impact to the air with no mechanical vibration is used as a wave transmitting device, and an electric capacitance microphone converting variation of pressure due to acoustic wave to variation of an electric signal is used as each wave receiving device. Therefore, dead zone caused by reverberation component included in the acoustic wave transmitted from the wave transmitting device and dead zone caused by reverberation component included in wave receiving signals outputted from the wave receiving devices can be shortened and angular sensitivity of the acoustic wave sensor can be increased, in comparison with a conventional acoustic wave sensor using piezoelectric devices as the wave transmitting device and the wave receiving devices.

Abstract: An ultrasonic sensor for measuring the level of liquid in a vessel has an elongated tubular probe, a tube within the probe, and a transducer that converts electrical energy to ultrasonic energy mounted at or near one end of the tube to transmit ultrasonic energy along the probe longitudinal axis. A conical reflector that reflects ultrasonic energy is opposite the transducer ultrasonic energy emitting part to reflect ultrasonic energy received from the transducer upwardly in the probe to an air-liquid interface from which it is downwardly reflected to the conical reflector element that directs the energy reflected from the interface back to the transducer for conversion to an electrical signal that is used by an electronic module to measure the liquid level in the probe, which is the liquid level in the vessel, by measuring the round trip travel time of the ultrasonic signal energy.

Abstract: In a pulse-echo ranging system an energy pulse is transmitted to a target, echo pulses are received and converted into an echo signal that is processed to identify an echo from the target and to determine the distance from the propagation time of the identified echo, where the advanced stage of the processing is performed digitally. Instead of storing and processing the echo signal, the first derivative of the whole echo signal is stored in digital form and then processed to allow for storing as large a number of samples possible in a limited memory without reducing the resolution and without complicating the processing.

Abstract: To detect the positions of the respective mobiles correctly without being affected by the ultrasonic waves from other mobile(s) in a case where plural mobiles are used simultaneously. The mobile comprises a unit that transmits a trigger signal of requesting transmitting ultrasonic wave that is capable of identifying the mobile, a unit that receives a trigger signal of allowing transmitting ultrasonic wave from the receiver, and a unit that transmits an ultrasonic wave immediately upon receipt of the trigger signal of allowing transmitting ultrasonic wave.

Abstract: A measurement instrument comprises a sensor circuit comprising a drive circuit for transmitting a pulse signal at a target of interest and a receive circuit receiving reflected echoes of the pulse signal and developing an analog signal representative of the reflected echoes. An analog processing circuit is operatively coupled to the sensor circuit for receiving the analog signal and comprising a gate for selectively transferring the analog signal to a comparator that compares the gated analog signal to a select threshold level to develop a data signal representative of location of the target of interest. A programmed digital processing circuit is operatively coupled to the sensor circuit and the analog processing circuit and comprises a measurement module to control the drive circuit and evaluate the data signal to determine material location.

Abstract: A vehicle presence notification apparatus uses several ultrasonic transducer devices to generate a notice sound by emitting an ultrasonic wave in mid air based on an ultrasonic signal modulated according to an audible sound. At least one of the speaker-use ultrasonic transducer devices is a two-way transducer device that is enabled to perform not only transmission but also reception of an ultrasonic wave. When a vehicle velocity is equal to or greater than a predetermined value, the two-way transducer device is caused to function as an ultrasonic sensor. Thus, even when the generation of any notice sound is unnecessary due to the vehicle velocity being fast, the vehicle presence notification apparatus can be used as an ultrasonic sensor to measure a distance with an obstacle outside of the vehicle.

Abstract: A level measurement system suitable for use in a high temperature and pressure environment to measure the level of coolant fluid within the environment, the system including a volume of coolant fluid located in a coolant region of the high temperature and pressure environment and having a level therein; an ultrasonic waveguide blade that is positioned within the desired coolant region of the high temperature and pressure environment; a magnetostrictive electrical assembly located within the high temperature and pressure environment and configured to operate in the environment and cooperate with the waveguide blade to launch and receive ultrasonic waves; and an external signal processing system located outside of the high temperature and pressure environment and configured for communicating with the electrical assembly located within the high temperature and pressure environment.

Abstract: An obstacle detection device includes one or more emitter ultrasonic sensors, each emitting an ultrasonic wave toward an obstacle, and one or more detection ultrasonic sensors for reception, each detecting a reflected wave from the obstacle. A control unit drives a specific one of the emitter ultrasonic sensors to cause it to emit an ultrasonic wave, stops the emission of the ultrasonic wave by the specific emitter ultrasonic sensor at the time that one of the detection ultrasonic sensors detects a reflected wave from the obstacle, and carries out detection of the obstacle and measurement of the distance to the obstacle from the time that the control unit stops the emission of the ultrasonic wave by the emitter ultrasonic sensor and the time that the reflected wave cannot be detected anymore.

Abstract: Disclosed is a moving object and a location measuring device and method thereof that may transmit an ultrasound signal to the moving object through a plurality of ultrasound transmitting units, and may estimate a location of the moving object at a current time based on distance information of distances between the moving object and the plurality of ultrasound transmitting units measured based on the transmitted ultrasound, inertia information, and location information of the moving object at a time prior to the current time.

Abstract: The method comprises: a) the emission of an ultrasound burst repeated at a predetermined recurrence frequency; and b) after each emission and for the duration of a time frame (n?1, n, n+1, . . . ) separating two consecutive emissions, the reception of a plurality of successive signal spikes appearing in the course of the same frame. These spikes include spurious spikes (E?n?1, E?n, E?n+1, . . . ) originating from the emitter of another drone, and a useful spike (En?1, En, En+1, . . . ) corresponding to the distance to be estimated. To discriminate these spikes, the following steps are executed: c) for two consecutive frames, comparison of the instants of arrival of the p spikes of the current frame with the instants of arrival of the q spikes of the previous frame and determination, for each of the p.q pairs of spikes, of a corresponding relative time gap; d) application to the p.

Abstract: Filter pipette tip with a small tube with a relatively large aperture at one end for attaching to a pipette, a relatively small aperture at the other end for the passage of liquid and a through-channel between the large aperture and the small aperture and a porous filter arranged in the through-channel, filling up a portion of the through-channel and comprising at least two layers arranged in series in the direction of the through-channel of which a fine-pore layer has a pore size of a maximum of approximately 20 ?m and a coarse-pore layer a pore size of approximately 20 to 50 ?m, the two layers having different pore sizes.

Abstract: In a first embodiment of the present invention, a method for controlling a receiving device, the method comprising: detecting a position of a control device operated by a user; detecting horizontal orientation or vertical inclination of the control device; based on the position and the horizontal orientation or vertical inclination of the control device, determining that the control device is pointed at the receiving device as opposed to another receiving device in the vicinity; and causing the control device to control the receiving device at which it is pointed based on the determination that the control device is pointed at the receiving device.

Abstract: A process measurement instrument with target rejection comprises a sensor circuit. The sensor circuit comprises a drive circuit for transmitting a pulse signal at a target of interest and a receive circuit receiving reflected echoes of the pulse signal and developing an analog receive signal representative of the reflected echoes. An analog processing circuit receives the analog receive signal and comprises a summer subtracting an analog target rejection signal from the analog receive signal to develop a corrected receive signal. A programmed digital processing circuit is operatively coupled to the analog processing circuit and comprises a memory storing target rejection signal value data representing false target reflections and developing the analog target rejection signal for transfer to the analog processing circuit.

Abstract: Example methods and systems for displaying one or more indications that indicate (i) the direction of a source of sound and (ii) the intensity level of the sound are disclosed. A method may involve receiving audio data corresponding to sound detected by a wearable computing system. Further, the method may involve analyzing the audio data to determine both (i) a direction from the wearable computing system of a source of the sound and (ii) an intensity level of the sound. Still further, the method may involve causing the wearable computing system to display one or more indications that indicate (i) the direction of the source of the sound and (ii) the intensity level of the sound.

Abstract: System and methods are disclosed for compensating a depth signal for a depth finder of a boat. In one embodiment, a compensation system is implemented between the depth finder and a transducer mounted on the boat. The compensation system receives a depth signal (i.e., a plurality of electrical impulses) from the transducer that directs sound waves toward the bottom of a body of water. The compensation system also monitors a change in elevation of the transducer, such as due to waves rocking the boat. The compensation system then compensates the depth signal based on the change in elevation, and provides the compensated depth signal to the depth finder.

Abstract: An apparatus and method for providing indoor location, position, or tracking of a mobile computer using building information. The mobile computer determines the dimensions of a room in a building using a range finder in the mobile computer. The determined dimensions of the room are compared to the building information to locate, position, or track the mobile computer in the building.

Abstract: A method and system that can be used for scanning underwater structures. For example, the method and system estimate a position and orientation of an underwater vehicle relative to an underwater structure, such as by directing an acoustic sonar wave toward an underwater structure, and processing the acoustic sonar wave reflected by the underwater structure to produce a three dimensional image of the structure. The data points of this three dimensional image are compared to a pre-existing three dimensional model of the underwater structure. Based on the comparison, a position and orientation of an underwater vehicle relative to the underwater structure can be determined.

Abstract: An ultrasonic sensor includes a transmitting device, receiving devices arranged in an array, and a circuit device. One receiving device is configured as a reference receiving device. The circuit device includes a reference signal generator and first and second synchronous detectors. The reference signal generator generates a reference signal by using a received signal of the reference receiving device. The first synchronous detector performs synchronous detection of a received signal of one of the receiving devices based on the reference signal to detect a distance to an object. The second synchronous detector performs synchronous detection of received signals of the receiving devices except the reference receiving device based on the reference signal to detect a direction of the object.

Abstract: An ultrasonic distance-measuring sensor assembly and an ultrasonic distance-measuring sensor thereof are disclosed. The ultrasonic distance-measuring sensor includes at least two piezoelectric actuators and a member. The member includes a side wall, at least two vibration generating/receiving surfaces and a partition. The vibration generating/receiving surfaces accommodate the piezoelectric actuators as sources. The side wall surrounds the vibration generating/receiving surfaces. The partition is disposed between the vibration generating/receiving surfaces and includes a slot. The slot is disposed between the vibration sending/receiving surfaces.

Abstract: A method for considering an echo amplitude profile as a result of convoluting a single echo with a channel response sequence, wherein for multiple echo detection, an estimation task is broken into three major steps comprising estimating a channel response, recovering a full shape of a single echo, and iteratively updating the channel response and echo shape to increase their accuracy. The estimation of the channel response is treated as a single echo detection problem and includes estimating the strongest echo for its position and amplitude, removing an echo corresponding to this recovered channel from the echo amplitude profile, and repeating the preceding steps for the next strongest echo.

Abstract: A method is provided for automatically locating a container in a stowage location of a container ship for loading and unloading of the container ship in container terminals. The method includes the following steps: obtaining the position information of the container ship from container ship positioning units, obtaining the position information of the container from container positioning units when the container is in its stowage location, and determining the stowage location of the container in the container ship by first computing a relative position of the container in the container ship based on both the position information of the container ship and the position information of the container and then correlating the relative position with a stowage plan of the container ship.

Abstract: The invention relates to position determining system (201) for determining a position of an object (2). A first position detection unit (205) detects a first position of the object (2) based on radiation transferred between the object (2) and transfer positions being known relative to a reference position by a sending and receiving unit (203, 214, 216, 217). A second position detection unit (35) detects a second position based on an acceleration of the object (2) and the determined first position, wherein an output unit (12) outputs at least one of the first position and the second position. If the transfer of radiation is interrupted, the second position can be output by the output unit. Moreover, the first position can be used as an initial value for determining the second position or to update the second position. This improves the quality of determining the position of the object.

Abstract: The present invention can find the exact location anywhere in the nautical world (latitude/longitude coordinates) by correlating or matching radar returns with maps produced by a digital nautical chart called a Chart Server, because each pixel location on the Chart Server maps can be traced back to a latitude/longitude coordinate. An obstacle avoidance module called a Chart Server provides digital nautical charts to create a map of the world. To determine the current world location of a vehicle, the invention combines the Chart Server maps with a radar return, which also appears to display prominent features such as coastlines, buoys, piers and the like. These return features from the radar are correlated or matched with features found in the Chart Server maps. The radar then reports its current location inside of its local map, which when translated to the Chart Server map, correlates to a latitude/longitude registration location.

Abstract: An acoustic waveguide with at least two portions coupled by vibration damping structure. The vibration damping structure may be a conformable material such as closed cell foam. The vibration damping structure may further include structure for inhibiting motion in a direction transverse to the interface between the vibration damping structure and a portion of the waveguide.

Abstract: Pulses are transmitted into a scene by an array of the transducers, wherein each pulse has wideband ultrasound frequency, wherein the pulses are transmitted simultaneously, and wherein a pattern of the wideband ultrasound frequencies in each pulse is unique with respect to the patterns of each other pulse. The pulses as received when the pulse are reflected by the scene and objects in the scene. Each received pulse is sampled and decomposed using a Fourier transform to produce frequency coefficients, which are stacked to produce a linear system modeling a reflectivity of the scene and the objects. Then, a recovery method is applied to the linear system to recover the reflectivity of the scene and the objects.

Abstract: A miner communication and locating system is disclosed. Two technologies used in the system include a communicator, and a locator array that may be used with a computer. The communicator portion allows trapped miners to continually signal without physical effort that they have survived a cave-in or explosion in a direct, mechanical, and reliable manner. The locator array receives the communicator signal for use to accurately identify where the survivors are underground, and facilitate their rescue; a computer can be used to calculate the position of the communicator from information provided by a plurality of locators: global positioning system receivers may be used with the locator array.

Abstract: An echo profile in a pulse-echo ranging system is processed by determining the relative slope at points on the profile, determining the relative area of each region of positive slope on the profile, identifying within the region having the largest relative area a point of greatest relative slope as a leading edge reference point, and using either said leading edge reference point or a peak within the echo profile as an echo timing measurement point.

Abstract: The present disclosure is related to apparatuses and methods for downhole acoustic logging. The tool may be used for generating a guided borehole wave that propagates into the formation as a body wave, reflects from an interface, and is converted back into a a guided borehole wave. Guided borehole waves resulting from reflection of the body wave are used to image a reflector. Methods may include processing of acoustic logging signals including: wavefield separation, auto-correlation of wavefield components, filtering using a dip filter, and estimating a distance to the reflective interface.

Abstract: A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.

Abstract: An acoustic surveying method includes computing at least one of a distance and direction between first and second subterranean boreholes. An acoustic pulsed is transmitted into a subterranean formation from the first borehole and received at three or more spaced receivers deployed in the second borehole. A distance between the two boreholes may be determined using longitudinally spaced receivers while a toolface to target direction (angle) may be determined using circumferentially spaced receivers.

Abstract: According to one embodiment, a sound image localization apparatus includes following units. The first signal generating unit is configured to generate a first acoustic signal. The first speaker is configured to generate a first sound according to the first acoustic signal. The input unit is configured to input a localization magnification n. The first control filter unit is configured to adjust the first acoustic signal with a first control filter G1 calculated based on the input localization magnification n to generate a first adjusted acoustic signal. The second control filter unit is configured to adjust the first acoustic signal with a second control filter G2 calculated based on the input localization magnification n to generate a second adjusted acoustic signal. The second and third speakers are configured to generate second and third sounds according to the first and second adjusted acoustic signals, respectively.

Abstract: A timer switch which is activated by the proximity of an object situated in a given distance range and is present there for a given time period.

Abstract: A method of determining the volume or height of fluid in a reservoir is provided. A first burst of focused acoustic energy is used to raise temporarily a protuberance on a free surface of the fluid. A second burst of acoustic energy is directed to the free surface of the fluid. Echoes from the second burst of acoustic energy are detected. The detected echoes are employed to compute the height of the fluid.

Abstract: An ultrasound sensor for distance detection includes a transducer external surface and a blockage sensor provided on the transducer external surface. The surface of the blockage sensor terminates flush with the transducer external surface and is sensitive to an electrical characteristic or is sensitive to a temperature present at the blockage sensor surface. In this way, the blockage sensor can determine whether the ultrasound transducer is blocked by a layer of ice or whether the sensor is free of blockage.

Abstract: The present invention relates to an underwater guidance system for guiding an underwater apparatus, for example an underwater vehicle, towards a target structure, such as a docking station. The system comprises at least one system for capturing or sensing information on the relative position of the apparatus and the target structure and/or at least one imaging system for capturing an image of the target structure and a transmitter for wireless electromagnetic transmission of data indicative of the position information and/or captured image to the underwater apparatus or an underwater apparatus controller.

Abstract: A measuring device is disclosed. In at least one embodiment, the measuring device includes a waveguide that extends into a bore, wherein the bore and the waveguide contain a medium and wherein the waveguide and the bore are displaceable relative to each other. In at least one embodiment, the measuring device further includes at least one device for coupling in and coupling out of waves into the waveguide, wherein the waves transition from the waveguide into the bore, wherein the waves travel through a measuring section inside the bore, and wherein the waves travel inside the waveguide through a constant reference section.

Abstract: Disclosed is a displacement estimating method of iteratively estimating displacement using ultrasound signals, and the method includes: transmitting, to a medium, at least one of the ultrasound signals to scan the medium; receiving the ultrasound signal reflected from the scanned medium; calculating a size of a window; calculating a border of the window based on the calculated window size; estimating displacement for each depth of the ultrasound signal, using the window with the calculated border; warping the ultrasound signal based on the estimated displacement; and guiding convergence of the method using the warped ultrasound signal so that a correlation value of the ultrasound signal is larger.

Abstract: A ultrasonic device detecting a direction to an object includes: a transmitting element of a ultrasonic wave; first and second receiving elements; a diffraction wave phase detector; an initial phase memory for an initial phase of a diffraction wave; a sound speed detector; a phase correction amount calculator calculating a phase shift caused by a sound speed change and calculating a phase correction amount based on the phase of the diffraction wave, the initial phase and the phase shift; a phase correction element correcting a phase of the reflection wave based on the phase correction amount; and a direction detector for detecting the direction to the object based on a difference between corrected phases of the reflection wave received by the first and second receiving elements, a distance between the first and second receiving elements, and a wavelength of the transmission ultrasonic wave corresponding to a sound speed.

Abstract: A method and apparatus for passive determination of target data (R, K, V) associated with a target from measured and estimated bearing angles. The measured bearing angles (4) are determined by a sonar receiving installation (2) by directionally selective reception of sound waves which are emitted or sent from a target, and the estimated bearing angles are determined from estimated positions of the target. The bearing angle differences from estimated and measured bearing angles are minimized iteratively over a plurality of processing cycles, and a position of the target, on which the minimum is based, is determined as the optimized solution (12). Furthermore, limit values (10) are defined for the target data (R, K, V) to be determined, in order to exclude unrealistic target data as solutions.

Abstract: An apparatus for providing information about a physical surrounding environment to a user includes an elongate body having first and second opposing ends and a mast, at least one sensor mountably coupled to the mast, at least one dual purpose, bi-directional haptic force feedback device including first and second haptic force feedback mechanisms and a vibrator, and a processor, which receives signals from the at least one sensor and operatively controls the at least one dual purpose, bi-directional haptic force feedback device.