Abstract: This method provides methods and apparatus for programmably regulating power provided to ultrasonically vibrate a metal-cutting tool, with power being regulated as a function of physical parameters measured during the cutting operation which are indicative of progress of the tool cutting the workpiece. The methods and apparatus regulate the power input to vibrate the tool in response to one or more sensed physical parameters to maintain the parameter(s) within preselected limits indicative of satisfactory cutting by the tool.

Abstract: A microprocessor based sequence controller for a vending machine performs sequences of functions required for the vending machine operation. The microprocessor unit has two separate storage sections, one of which is not alterable and contains the basic program for the vending machine. The other section is alterable and contains adjustable timing modifications of the basic program. The alterable storage section is modifiable through the use of a separate, selectively connectable service module, which is not normally connected with the sequenced controller during normal vending operations. The start and stop times of each function of the sequence of functions are independently modifiable, and an interlock is provided to assure against unintentional modification of the start and stop times.

Abstract: An automatic positioning apparatus comprises a smoothing means. The smoothing means is adapted to connect smoothly a 3-dimensional path based on the preceding and succeeding four taught points irrespective of a straight line or a curved line, while correcting a driving system with a delay of a system of a means being controlled, thereby to achieve a control in consideration of not only inertia but also a response characteristic.

Abstract: A landing gear for loads including cargoes and/or personnel is removably ured to the load. At least one tiltable jet engine forms part of the landing gear and automatically controls the descent movement. A stabilizing mechanism forms part of the landing gear and provides a positioned control for the landing gear and load during descent. Preferably two solid fuel rockets are provided for supporting the load during descent. The rockets are tiltable about an axis extending across the longitudinal axis of the landing gear. The tilting is controlled by a computer on board in accordance with a program present in the computer whereby the landing is substantially independent of local wind conditions and other external factors.

Abstract: The invention relates to a method of and a system for controlling the operation of open-end spinning machines comprising a plurality of spinning units, which method is based upon a permanent cyclic communication of a central unit of the system with the individual spinning units. According to the invention, at a given instant, a single spinning unit only is connected to the central unit of the control system, said central unit being supplied with information data about the condition of the spinning unit connected thereto while said central unit simultaneously transmits instructions for said spinning unit, the other spinning units operating automatically on the basis of the stored instruction the validity of which lasts for the time of one control cycle.

Abstract: A method for synchronizing switching mechanisms or program sequences to an external frame clock pulse, wherein after a given period of time the switching mechanism or program is enabled to be reset and that after this enabling the resetting takes place with the edge of an external clock pulse. Moreover, the resetting takes place immediately after enabling if the edge of the external clock pulse has appeared earlier in time and the resetting takes place in any case no later than after a further given period of time even if the edge of the external clock pulse has not arrived. An apparatus for carrying out the method is also disclosed.

Abstract: A signal processing system and technique is disclosed for detecting the pence of a desired frequency signal particularly that of a sine wave, in a noisy environment. The signal mixed with noise is received and analyzed by a Fast Fourier Transform spectrum analyzer the output of which is indicative of instantaneous signal phase. The output of the spectrum analyzer is digitally processed to produce a series of average instantaneous signal values based upon the instantaneous signal phase and a statistical estimate of its rate of change, the values being representative of the relative signal strengths for a progression of phase reference values between 0.degree. and 360.degree.. The desired signal is detected when an average instantaneous signal value exceeds a threshold value determined empirically based upon a certain probability of detection and false alarm rate.

Abstract: A method for teaching an operation of a robot to the robot and its apparatus are disclosed in which a force sensor capable of sensing three-directional force components and three-directional moment components at the maximum is provided at the wrist of the robot. An operator for teaching the robot applies the force or the moment to the force sensor. The data representing the force or the moment is taken out from the sensor to drive the robot in the force or moment direction and the robot drive data thus collected are loaded into a memory device of the robot control unit. A plurality of directional parameters representing a position of the front end of the arm of the robot and a plurality of directional parameters representing a posture of the wrist define a state of the robot.

Abstract: A method for controlling drilling process based on the use of an adaptive model of drilling process comprises two control modes of which one is a multicycle rock formation trial mode and the other mode is a drilling mode proper. During the first cycle of the trial mode the drilling speed is determined on the basis of pre-set values of controlled parameters and approximate values of coefficients of the adaptive model being corrected and this drilling speed is compared to the value of drilling speed as measured during the first cycle; and corrected values of a respective coefficient of the adaptive model being corrected are formed based on the comparison results; and, taking into account these values, the values of control signals close to optimum values are determined which are the settings for acting on the bit during the next trial mode cycle. In each next cycle the corrected coefficients of the preceding cycle are used for determining control signals.

Abstract: A P-I-D controller in a process control system is self tuned in response to discrete time model identification parameters which are converted to P-I-D form.Additionally, the P-I-D parameters are limited to prevent them from exceeding the controller's specified range.

Abstract: A programmable controller connected for receiving the external numerical data from a date setter to the central control unit. Data sets in a numerical data setter can be used as the time data in a timer instruction and count data in a counter instruction when the prescribed code is used and the user program is executed.

Abstract: Disclosed is an analog apparatus for simulating the low frequency pulsations and surge characteristics of centrifugal compressors and pumps and their interaction with piping systems. The apparatus includes a capacitor pump for simulating the pumping action of a centrifugal compressor. Voltages are applied to the input and output of the capacitor pump that are proportional to the section and discharge pressures of the compressor. The capacitor pump is driven electrically to simulate the action of the centrifugal compressor in a piping network.

Abstract: A method and apparatus for controlling the deceleration of a motor driven body in which deceleration is controlled as a function of the difference between the output energy of the driving motor and the kinetic energy of the driven body.

Abstract: A method for carrying out a cutting work using the numerical data obtained from a tracing of a model by stylus means, said numerical data being obtained by applying a proportional allotment to a first and second numerical data related to a first and a second stylus, in accordance with the radius of the cross-section of a cutting tool.

Abstract: Automatic trim tab control system (10) for boats in which the controls are provided with an attitude sensing switch (14) which provides port/starboard, fore/aft correction signals to the system (10) for trim tab correction. A timing means (18) in the control system enables signals from the attitude sensing switch, if corrections are required, to be amplified (16) and then directed to the switching relays (20) for the trim tabs or other device requiring altitude correction. A digital embodiment (134) may also be used for applications other than boats.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.

Abstract: A segmented, transversal correlator for use in a spread spectrum communications system accurately synchronizes to an incoming spread signal by passively searching for a particular section of a known reference PN code sequence. To achieve correlator lengths of greater than one data bit long, the correlator may comprise a plurality of correlation subsections, each including a loading register for storing a different section of the overall reference PN code sequence. A section of the PN code sequence is transferred into a circulating register in each subsection through a parallel transfer. The dynamic, circulating PN code sequence is then correlated against statically stored analog samples of the incoming spread signal. When the dynamic PN reference code sequence is aligned with the corresponding PN sequence in the analog samples, a correlation signal is produced and magnitude detected to form a signal which is applied to a summation circuit.

Abstract: A system for remotely controlling one or more instruments from a control terminal. Each instrument includes a stored menu of operations it can perform under control of the terminal and an accumulator for producing an index number which selects a particular operation from the menu. The terminal includes means for transmitting commands to direct the instrument to increment the index number and to transmit back to the terminal a textual description of the currently selected menu entry. The terminal further includes means for directing the instrument to perform the operation designated by the current menu entry.

Abstract: A power factor monitoring and control system for controlling the quality of a spot weld made by assembly line welders. The control system of the present invention detects a change in the load power factor as the weld is formed which is manifested as a change in the current extinction angle of the half cycles of weld current. The time interval between the instant weld current is extinguished at the end of a programmed half cycle and an instant when current is extinguished at the end of a subsequent half cycle provides a measure of the resistance across the weld nugget. The time interval information is stored and compared with information provided during a previous half cycle to generate a difference signal. The change in resistance in the secondary circuit is reflected through the transformer to the transformer primary circuit as a decrease in power factor.

Abstract: This disclosure describes digital control circuit to actuate an analog servo motor in response to digital information from a computer. The control circuit is responsive to the timing signal (13) from the computer, and includes a circuit (12) to receive information from the computer indicative of a new servo position. A feedback circuit (15) receives information from the servo indicative of the actual present servo position. Information processed individually by each of these circuits then is connected into a computational network (14) in order to generate a properly timed digital output signal which, when converted in a suitable digital-to-analog converter (17), is able to drive a servo motor accurately.