Abstract: A control system for a combined pedal and battery powered bicycle or companion vehicle in which sensing means is employed to monitor tension in the chain which couples power from the pedal sprocket to the wheel sprocket of such vehicle in order to provide power from the electrical drive as and when needed; and where similar sensing means is employed to monitor activation of the braking system of the vehicle in order to regeneratively brake the vehicle.

Abstract: A method and apparatus for locating target patterns with reference to a fixed axis. The apparatus includes a collimated light source providing a light beam to a rotating prism and optical flat producing a rotating light beam. A lens whose axis is the fixed axis focuses the beam to a spot on a surface containing a pattern comprising regularly spaced light scattering surfaces. A light sensor detects light from the rotating beam scattered by the target. An incremental shaft encoder provides a real time indication of spot position. The light sensor output provides a measure of target location and orientation with reference to the lens axis. The encoder can be used to control sampling apparatus and an A/D converter to provide regular digital samples of the light sensor output.