Abstract: A family of transmission gearing arrangements produces ten forward and one reverse speed ratios by selective engagement of various combinations of four shift elements. Each disclosed transmission includes four planetary gearsets and six shift elements.

Abstract: A method of localising transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is moving. Further data is received (404), that data being obtained from a second ranging sensor device (204) of the transportable apparatus configured to collect information relating to at least a surface (218) over which the transportable apparatus is moving. The ranging sensor device data is used (406) to estimate linear and rotational velocities of the transportable apparatus and the estimates are used (408) to generate a new 3D point cloud (212) of the environment. The method seeks to match (412) the new 3D point cloud with, or within, existing 3D point cloud (216) in order to localise the transportable apparatus with respect to the existing point cloud.

Abstract: A family of transmission gearing arrangements produces up to nine forward and one reverse speed ratios by selective engagement of three shift elements in various combinations. Each disclosed transmission includes four planetary gear sets and six elements. Two of the arrangements feature planetary gear sets that are separated radially and are particularly suited to applications that require reduced axial length.

Abstract: A method of localizing transportable apparatus (100) within an environment including receiving (402) data obtained from a ranging sensor device (102) of the transportable apparatus configured to collect information relating to at least a surface (120) over which the transportable apparatus is moving in an environment, and using (404) the ranging sensor device data to generate a new 3D point cloud (110) of the environment. The method further obtains (406) data representing an existing 3D point cloud (114) of at least part of the environment, and seeks to match (408) the new 3D point cloud with, or within, the existing 3D point cloud in order to localize the transportable apparatus with respect to the existing point cloud.

Abstract: A transmission gearing arrangements produces up to ten forward and one reverse speed ratios by selective engagement of various combinations of four shift elements. Each disclosed transmission includes four planetary gear sets and at least six shift elements. One of the shift elements may be a dog clutch. Optional passive one way brakes simplify the control.

Abstract: A family of transmissions has four planetary gear sets, five controllable clutches and brake, and a passive one way brake. Selective engagement of the brakes and clutches in combinations of three produces eight forward speed ratios and one reverse speed ratio. The passive one way brake is engaged in the first forward speed ratio and overruns in the second through fifth forward speed ratios.

Abstract: A family of transmission gearing arrangements produces up to ten forward and one reverse speed ratios by selective engagement of various combinations of three or four shift elements. Each disclosed transmission includes four planetary gear sets and six shift elements. Two of the shift elements can be brakes.

Abstract: A family of transmission gearing arrangements produces up to nine forward and one reverse speed ratios by selective engagement of three shift elements in various combinations. Each disclosed transmission includes four planetary gear sets and six elements. Two of the arrangements feature planetary gear sets that are separated radially and are particularly suited to applications that require reduced axial length.

Abstract: A family of transmission gearing arrangements produces up to nine forward and one reverse speed ratios by selective engagement of three couplers in various combinations. Each disclosed transmission includes four planetary gear sets and six couplers. Three of the couplers may be brakes. Three of the couplers may selectively couple planetary elements to the input shaft.

Abstract: A multiple speed power transmission including: an input shaft, an output shaft, a first gearing assembly imposing a fixed linear speed relationship among five shafts, a second gearing assembly imposing a fixed linear speed relationship among three shafts, two clutches, and four brakes capable of producing nine forward speed ratios and one reverse speed ratio when clutches and brakes are applied in combinations of two.

Abstract: A multiple speed power transmission comprising: an input shaft, an output shaft, a first epicyclic gearing assembly with five rotating members, a second epicyclic gearing assembly with three rotating members, two clutches, and four brakes capable of producing nine forward speed ratios and one reverse speed ratio when clutches and brakes are applied in combinations of two.

Abstract: A family of transmissions has four planetary gear sets, five controllable clutches and brake, and a passive one way brake. Selective engagement of the brakes and clutches in combinations of three produces eight forward speed ratios and one reverse speed ratio. The passive one way brake is engaged in the first forward speed ratio and overruns in the second through fifth forward speed ratios.

Abstract: Four planetary gear sets, three rotating clutches, and two brakes can be arranged to produce eight forward speed ratios and a reverse speed ratio. The first and fourth gear sets can be substantially coplanar with each other, and the second and third gear sets can be substantially coplanar with each other. The lowest forward speed ratio could be suitable for use as a special purpose low range ratio, while the remaining seven forward ratios can provide adequate span for normal driving.

Abstract: A family of transmissions has four planetary gear sets, five controllable clutches and brake, and a passive one way brake. Selective engagement of the brakes and clutches in combinations of three produces eight forward speed ratios and one reverse speed ratio. The passive one way brake is engaged in the first forward speed ratio and overruns in the second through fifth forward speed ratios.

Abstract: A transmission gearing arrangement produces at least nine forward speed ratios and one reverse speed ratio by selective engagement of three shift elements in various combinations. One embodiment includes four simple planetary gear sets, three clutches, and three brakes. A second embodiment includes four simple planetary gear sets, four clutches, and two brakes. In this second embodiment, three of the clutches and one of the brakes form a four shift element module. A third embodiment includes two axis transfer gear pairs, three simple planetary gear sets, five clutches, and one brake.

Abstract: A transmission gearing arrangement produces ten forward speed ratios and four reverse speed ratio by selective engagement of three shift elements in various combinations. Some embodiment includes four simple planetary gear sets and seven shift elements of which three or four are brakes. Another embodiment includes two axis transfer gear pairs in place of one of the planetary gear sets. One of the brakes is used only in reverse and may be a latch.

Abstract: A method of localising transportable apparatus (100) within an environment including receiving (402) data obtained from a ranging sensor device (102) of the transportable apparatus configured to collect information relating to at least a surface (120) over which the transportable apparatus is moving in an environment, and using (404) the ranging sensor device data to generate a new 3D point cloud (110) of the environment. The method further obtains (406) data representing an existing 3D point cloud (114) of at least part of the environment, and seeks to match (408) the new 3D point cloud with, or within, the existing 3D point cloud in order to localise the transportable apparatus with respect to the existing point cloud.

Abstract: A family of transmission gearing arrangements produces up to nine forward and one reverse speed ratios by selective engagement of three shift elements in various combinations. Each disclosed transmission includes four planetary gear sets and six elements. Two of the arrangements feature planetary gear sets that are separated radially and are particularly suited to applications that require reduced axial length.

Abstract: A family of transmission gearing arrangements produces up to nine forward and one reverse speed ratios by selective engagement of three couplers in various combinations. Each disclosed transmission includes four planetary gear sets and six couplers. Three of the couplers may be brakes. Three of the couplers may selectively couple planetary elements to the input shaft.

Abstract: A dual clutch transaxle provides eight forward gear ratios and two reverse gear ratios. The gears are arranged in seven gear planes. Four coupler assemblies are arranged to selectively sequentially engage each adjacent pair of the eight forward gear ratios to permit shifting among the eight forward gear ratios with continuous transmission of torque through the transaxle.