Abstract: A device for creating a milieu for a creature in a real environment to the creature, the milieu comprising both at least one part of the real environment and at least one fictitious phenomenon, the properties of the milieu experienced by the creature depending on its position and/or orientation relative to the real environment. The device comprises a member for generating stimuli, the member including a transducer arranged to determine its position and/or orientation relative to the real environment by receiving incident optical signals and recording the relative incident directions of the received signals in relation to the transducer, and an element by which the creature and the transducer are connected for generating the stimuli by information about the position and/or orientation of the transducer and about the real environment, and a unit for transferring the generated stimuli to the creature.

Abstract: A device (4) for producing information concerning one or more properties of an environment (1), comprising a sensor (5) movable in relation to the environment, for obtaining information from the environment by recording or measuring one or more properties of the environment in one or more positions and/or directions, and a transducer (6) mechanically connected to the sensor (5) so that the relative positions and orientations of the sensor and the transducer are fixable. The transducer (6) is arranged to determine its orientation and position with respect to at least four degrees of freedom relative to the environment by receiving incident signals from signal sources (7) in the environment and thereby produce corresponding information concerning the orientation and the position of the sensor, for at least one said recording or measuring accomplished by the sensor (5).

Abstract: A method for determining the position and/or orientation of a creature (3) relative to an environment by connecting the creature (3) to a locating member (4) including a transducer (5) so that the relative positions and/or orientations of the creature (3) and the transducer (5) are arranged to be within a limited interval. The transducer determines its position and/or orientation relative to the environment by receiving incident signals from the signal sources (9) in the environment, and the position and/or orientation of the creature (3) is determined by the position and/or orientation determined for the transducer (5).

Abstract: A device for determining the position and/or orientation of a creature (3) relative to an environment, comprising a locating member (4) connected to the creature (3), the locating member including a transducer (5) arranged to determine its position and/or orientation relative to the environment by receiving incident signals from signal sources (9) in the environment and record the relative incident directions of the signals received in relation to the transducer, and an element (8) by which the creature (3) and the transducer (5) are connected to each other, so that the relative positions and/or orientations of the creature (3) and the transducer (5) are arranged to be within a limited interval, for determining the position and/or orientation of the creature (3) by the information about the position and/or orientation of the transducer (5).

Abstract: A device for creating a milieu for a creature in a real environment to the creature, the milieu comprising both at least one part of the real environment and at least one fictitious phenomenon, the properties of the milieu experienced by the creature depending on its position and/or orientation relative to the real environment. The device comprises a member for generating stimuli, the member including a transducer arranged to determine its position and/or orientation relative to the real environment by receiving incident optical signals and recording the relative incident directions of the received signals in relation to the transducer, and an element by which the creature and the transducer are connected for generating the stimuli by information about the position and/or orientation of the transducer and about the real environment, and a unit for transferring the generated stimuli to the creature.

Abstract: A device for determining the position and/or orientation of a creature (3) relative to an environment, comprising a locating member (4) connected to the creature (3), the locating member including a transducer (5) arranged to determine its position and/or orientation relative to the environment by receiving incident signals from signal sources (9) in the environment and record the relative incident directions of the signals received in relation to the transducer, and an element (8) by which the creature (3) and the transducer (5) are connected to each other, so that the relative positions and/or orientations of the creature (3) and the transducer (5) are arranged to be within a limited interval, for determining the position and/or orientation of the creature (3) by the information about the position and/or orientation of the transducer (5).

Abstract: A method for determining the position and/or orientation of a creature (3) relative to an environment by connecting the creature (3) to a locating member (4) including a transducer (5) so that the relative positions and/or orientations of the creature (3) and the transducer (5) are arranged to be within a limited interval. The transducer determines its position and/or orientation relative to the environment by receiving incident signals from the signal sources (9) in the environment, and the position and/or orientation of the creature (3) is determined by the position and/or orientation determined for the transducer (5).

Abstract: A device for creating a milieu for a creature in a real environment to the creature, the milieu comprising both at least one part of the real environment and at least one fictitious phenomenon, the properties of said milieu experienced by the creature depending on the position and/or orientation of the creature, or a part thereof, relative to the real environment.

Abstract: A device (4) for producing information concerning one or more properties of an environment (1), comprising a sensor (5) movable in relation to the environment, for obtaining information from the environment by recording or measuring one or more properties of the environment in one or more positions and/or directions, and a transducer (6) mechanically connected to the sensor (5) so that the relative positions and orientations of the sensor and the transducer are fixable. The transducer (6) mechanically connected to the sensor (5) so that the relative positions and orientations of the sensor and the transducer are fixable.

Abstract: A control equipment provided with an operator-actuated control member (1) having a transducer (10, 11) that receives signals which propagate linearly between a plurality of signal sources (M.sub.1 -M.sub.4) and the transducer. The equipment has means (10, CU) sensing the directions from the transducer to the sight lines from the transducer to the signal sources and, on the basis of these angles, determines the position of the control member.

Abstract: As equipment has a transducer (G) that receives signals from a number of objects with unknown positions and senses the directions from the transducer to the objects. The directions of the sight lines to the objects are sensed in at least two separate transducer locations. The transducer signals are supplied to calculator (CU) which calculates the positions of the objects.

Abstract: An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.