Abstract: An electronic device is disclosed. The electronic device includes a mechanical input configured to move in a first direction in response to an input at the mechanical input. A mechanical input sensor is coupled to the mechanical input and configured to sense the input at the mechanical input based on the movement of the mechanical input in the first direction. A mechanical input actuator is coupled to the mechanical input and configured to displace the mechanical input in a second direction, different from the first direction. In some examples, the second direction is orthogonal to the first direction. In some examples, the mechanical input comprises a rotary input configured to rotate in the first direction in response to the input. In some examples, the mechanical input actuator is configured to displace the mechanical input in the second direction while the mechanical input is moving in the first direction.

Abstract: An electronic device is disclosed. The electronic device includes a mechanical input configured to move in a first direction in response to an input at the mechanical input. A mechanical input sensor is coupled to the mechanical input and configured to sense the input at the mechanical input based on the movement of the mechanical input in the first direction. A mechanical input actuator is coupled to the mechanical input and configured to displace the mechanical input in a second direction, different from the first direction. In some examples, the second direction is orthogonal to the first direction. In some examples, the mechanical input comprises a rotary input configured to rotate in the first direction in response to the input. In some examples, the mechanical input actuator is configured to displace the mechanical input in the second direction while the mechanical input is moving in the first direction.

Abstract: An electronic device is disclosed. The electronic device includes a mechanical input configured to move in a first direction in response to an input at the mechanical input. A mechanical input sensor is coupled to the mechanical input and configured to sense the input at the mechanical input based on the movement of the mechanical input in the first direction. A mechanical input actuator is coupled to the mechanical input and configured to displace the mechanical input in a second direction, different from the first direction. In some examples, the second direction is orthogonal to the first direction. In some examples, the mechanical input comprises a rotary input configured to rotate in the first direction in response to the input. In some examples, the mechanical input actuator is configured to displace the mechanical input in the second direction while the mechanical input is moving in the first direction.

Abstract: An electronic device is disclosed. The electronic device includes a mechanical input configured to move in a first direction in response to an input at the mechanical input. A mechanical input sensor is coupled to the mechanical input and configured to sense the input at the mechanical input based on the movement of the mechanical input in the first direction. A mechanical input actuator is coupled to the mechanical input and configured to displace the mechanical input in a second direction, different from the first direction. In some examples, the second direction is orthogonal to the first direction. In some examples, the mechanical input comprises a rotary input configured to rotate in the first direction in response to the input. In some examples, the mechanical input actuator is configured to displace the mechanical input in the second direction while the mechanical input is moving in the first direction.

Abstract: A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal. The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.

Abstract: An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

Abstract: An audio alarm for a transporter having an electric motor. The alarm has a signal generator for generating a signal within the audible frequency range and a modulator for modulating a current that is applied to the electric motor in accordance with the signal generated by the signal generator.

Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

Abstract: An electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.

Abstract: A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.

Abstract: A controller for providing user input of a desired direction of motion or orientation for a transporter. The controller has an input for receiving specification by a user of a value based on a detected body orientation of the user. User-specified input may be conveyed by the user using any of a large variety of input modalities, including: ultrasonic body position sensing; foot force sensing; handlebar lean; active handlebar; mechanical sensing of body position; and linear slide directional input. An apparatus that may include an active handlebar is provided for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle.

Abstract: A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

Abstract: A method for detecting an open winding in a motor. The method employs passive monitoring of the voltage, current and speed of the motor. A residue voltage is calculated that equals the difference between an idealized set of voltage drops across the motor load elements and the actual voltage drops. When the magnitude of the residue voltage equals or exceeds a threshold, an open winding condition may be declared and appropriate action may be taken.

Abstract: A radio frequency communication system utilizing a radiating transmission line is disclosed. During normal operation, a mobile communication unit near the radiating transmission line can communicate with other mobile communication units near the transmission line as well as with the base station. The communication system is redundant in that if a portion of the communication system fails such that communication signals cannot be communicated through the fault the communication system will continue to operate and communication signals from any mobile communication units near the radiating transmission line will be transmitted and received from the base station. The communication system is particularly suited for use in underground mines in which event the base station can be located at the surface, and the mobile communication units are generally located in the mine shafts.

Abstract: A non-rotating optical shield is generally cylindrical in shape and surrounds a rotating optical deflector to reduce airflow and optical distortion, as well as acoustic noise. A beam entrance aperture is provided in an end of the shield allowing an input beam to project onto the rotating deflector along the deflector's spin axis. The entrance aperture is sealed by a window to prevent air from being drawn into the shield by the action of the rotating optical deflector. The deflected beam exits the shield through a beam exit aperture in the side of the shield which is enclosed by an optical element. Clearances between the shield and the rotating deflector are minimal. The shield reduces temperature gradients in the surrounding air thus reducing optical distortions caused by changes in refractive indices of the deflector and surrounding air.