Abstract: Systems and methods for payload management systems are illustrated. One embodiment includes a delivery mechanism. A mechanical linkage in the delivery mechanism includes rocking bars mounted to: a chassis and a first cross bar The mechanical linkage includes linear actuators that include piston-type actuators configured to move at least one payload in and out of a compartment. One end of each linear actuator is mounted to an individual rocking bar. The mechanical linkage includes at least one grapple, wherein each grapple comprises a hook mounted to a claw; and is mounted to a second cross bar. The hook is configured to open and close around the at least one payload; and rotate around the claw. The delivery mechanism includes a control circuit configured to open, close, and rotate the hook using a grapple motor and/or an end-of-travel switch; and to move the linear actuators relative to the rocking bars.

Abstract: Systems and methods for the application of surface normal calculations are illustrated. One embodiment includes a system for navigation, including: a processor; and instructions stored in a memory that when executed by the processor direct the processor. The processor obtains a set of sensor data, wherein sensor data includes a plurality of polarized images. The processor retrieves at least one navigation query; and a plurality of key-value pairs based on the polarized images. The processor inputs the at least one navigation query and the plurality of key-value pairs into a Cross-Attention Transformer that provides a set of weighted sums, wherein each weighted sum corresponds to: a certain key-value pair from the plurality of key-value pairs; and a certain sensor. The processor updates a model based on the set of weighted sums. The processor navigates the system within a 3D environment according, at least in part, to the model.

Abstract: Systems and techniques performing autonomous navigation are illustrated. One embodiment includes a method for navigation. The method inputs a set of sensor data obtained from a plurality of sensors into at least one convolutional neural network (CNN). The at least one CNN generates a plurality of key-value pairs where each the key-value pair corresponds to an individual sensor from the plurality of sensors; and a value included in the key-value pair is determined based upon a subset of sensor data obtained from the individual sensor. The method inputs at least one navigation query and the plurality of key-value pairs into a Cross-Attention Transformer (CAT). The method obtains, from the CAT, a set of weighted sums, wherein each weighted sum corresponds to: a certain key-value pair; and a certain sensor from the plurality of sensors. The method updates a model depicting a 3D environment based on the set of weighted sums.

Abstract: A method for controlling switched reluctance machine (SRM) utilizing a SRM control system. The method allows for adaptive pulse positioning over a wide range of speeds and loads. An initial rotor position is provided for the SRM utilizing an initialization mechanism. A pinned point on a phase current waveform is defined during an initial current rise phase of the current waveform. A slope of the current rise is determined as the current waveform reaches the pinned point. The slope is then fed to the commutation module of the SRM control system. An error signal from calculated inductance or current slope is used as an input to a control loop in the SRM control system. The time determining module determines an optimum time signal to fire a next pulse. The optimum time signal is fed to the SRM for turning the plurality of SRM switches to on and off states.

Abstract: A system and method for reliable control of a high rotor pole switched reluctance machine (HRSRM) utilizing a sensorless reliable control system. The method comprising: energizing at least one of the plurality of stator phases; measuring a first current value and time taken by the first current value to reach a first peak value or preset threshold value of current; determining a self-inductance value; measuring a second current value and time taken by an adjacent un-energized stator phase to reach a second peak value of current; determining a mutual inductance value; and estimating a rotor position utilizing the self-inductance and mutual inductance values; and controlling the HRSRM based on the estimated rotor position.

Abstract: A method and apparatus for quasi-sensorless adaptive control of a high rotor pole switched-reluctance motor (HRSRM). The method comprises the steps of: applying a voltage pulse to an inactive phase winding and measuring current response in each inactive winding. Motor index pulses are used for speed calculation and to establish a time base. Slope of the current is continuously monitored which allows the shaft speed to be updated multiple times and to track any change in speed and fix the dwell angle based on the shaft speed. The apparatus for quasi-sensorless control of a high rotor pole switched-reluctance motor (HRSRM) comprises a switched-reluctance motor having a stator and a rotor, a three-phase inverter controlled by a processor connected to the switched-reluctance motor, a load and a converter.

Abstract: The present embodiment is a high rotor pole switched reluctance machine (HRSRM) which provides a plurality of combinations of the number of rotor poles Rn and number of stator poles Sn utilizing a numerical relationship defined by a mathematical formula, Rn=2Sn?Fp, when Sn=m×Fp, wherein Fp is the maximum number of independent flux paths in the stator when stator and rotor poles are fully aligned, and m is the number of phases. The mathematical formulation provides an improved noise performance and design flexibility to the machine. The mathematical formulation further provides a specific number of stator and rotor poles for a chosen m and Fp. The HRSRM can be designed with varying number of phases. The HRSRM provides a smoother torque profile due to a high number of strokes per revolution.

Abstract: A switched reluctance machine comprising at least one rotor comprising a set of rotor poles arranged about a central axis, at least one stator positioned concentric to and radially outward from the central axis and the rotor, the stator having an outer surface and an outer surface active zone; a housing having a sleeve positioned only radially outward from the stator outer surface active zone; at least one housing endplate coupled to an end of said housing; wherein said stator has no direct connection to said housing, and wherein the number of rotor poles Rn and number of stator poles Sn utilizing a numerical relationship defined by a mathematical formula, Rn=2Sn?Fp, when Sn=m×Fp, wherein Fp is the maximum number of independent flux paths in the stator when stator and rotor poles are fully aligned, and m is the number of phases.

Abstract: A method for controlling switched reluctance machine (SRM) utilizing a SRM control system. The method allows for adaptive pulse positioning over a wide range of speeds and loads. An initial rotor position is provided for the SRM utilizing an initialization mechanism. A pinned point on a phase current waveform is defined during an initial current rise phase of the current waveform. A slope of the current rise is determined as the current waveform reaches the pinned point. The slope is then fed to the commutation module of the SRM control system. An error signal from calculated inductance or current slope is used as an input to a control loop in the SRM control system. The time determining module determines an optimum time signal to fire a next pulse. The optimum time signal is fed to the SRM for turning the plurality of SRM switches to on and off states.

Abstract: A method and apparatus for quasi-sensorless adaptive control of a high rotor pole switched-reluctance motor (HRSRM). The method comprises the steps of: applying a voltage pulse to an inactive phase winding and measuring current response in each inactive winding. Motor index pulses are used for speed calculation and to establish a time base. Slope of the current is continuously monitored which allows the shaft speed to be updated multiple times and to track any change in speed and fix the dwell angle based on the shaft speed. The apparatus for quasi-sensorless control of a high rotor pole switched-reluctance motor (HRSRM) comprises a switched-reluctance motor having a stator and a rotor, a three-phase inverter controlled by a processor connected to the switched-reluctance motor, a load and a converter.

Abstract: A system and method for reliable control of a high rotor pole switched reluctance machine (HRSRM) utilizing a sensorless reliable control system. The method comprising: energizing at least one of the plurality of stator phases; measuring a first current value and time taken by the first current value to reach a first peak value or preset threshold value of current; determining a self-inductance value; measuring a second current value and time taken by an adjacent un-energized stator phase to reach a second peak value of current; determining a mutual inductance value; and estimating a rotor position utilizing the self-inductance and mutual inductance values; and controlling the HRSRM based on the estimated rotor position.

Abstract: A gate driver circuit comprises a sensor, an amplifier, a regulator, and a gate driver. The sensor is configured to sense a collector-emitter voltage and includes a first resistor and a second resistor connected in series, a high voltage diode connected between the series connected first and second resistors and a first capacitor connected parallel to the second resistor. The amplifier is configured to amplify a sensor output voltage and includes a non-inverting operational amplifier controlled by means of a plurality of resistors, a voltage follower connected to an output terminal of the non-inverting operational amplifier through a first diode and a third resistor connected across the first diode and the voltage follower. The regulator is configured to regulate a regulator output voltage based on an amplifier voltage. The gate driver is configured to connect/disconnect the regulator output voltage to the base terminal of the BJT.

Abstract: A high rotor pole switched reluctance machine (HRSRM) employs an axial and radial mirroring concept and is represented by a first Multiple Rotor Pole (MRP) formula and second Multiple Stator Pole (MSP) formula. A multiple rotor HRSRM comprises at least two rotors each having a plurality of rotor poles and at least two stators having a plurality of stator poles. The at least two rotors and the at least two stators are positioned about a central axis with the stator placed between the rotors. In other embodiments, the number of stators equals the number of rotors and effectively operate as a single stator and rotor. In yet another embodiment, the effective single stator and rotor type high rotor pole switched reluctance machine is realized as single stator and rotor positioned concentrically around a central axis.

Abstract: The present embodiment is a high rotor pole switched reluctance machine (HRSRM) which provides a plurality of combinations of the number of rotor poles Rn and number of stator poles Sn utilizing a numerical relationship defined by a mathematical formula, Rn=2Sn?Fp, when Sn=m×Fp, wherein Fp is the maximum number of independent flux paths in the stator when stator and rotor poles are fully aligned, and m is the number of phases. The mathematical formulation provides an improved noise performance and design flexibility to the machine. The mathematical formulation further provides a specific number of stator and rotor poles for a chosen m and Fp. The HRSRM can be designed with varying number of phases. The HRSRM provides a smoother torque profile due to a high number of strokes per revolution.

Abstract: A method and apparatus for quasi-sensorless adaptive control of a high rotor pole switched-reluctance motor (HRSRM). The method comprises the steps of: applying a voltage pulse to an inactive phase winding and measuring current response in each inactive winding. Motor index pulses are used for speed calculation and to establish a time base. Slope of the current is continuously monitored which allows the shaft speed to be updated multiple times and to track any change in speed and fix the dwell angle based on the shaft speed. The apparatus for quasi-sensorless control of a high rotor pole switched-reluctance motor (HRSRM) comprises a switched-reluctance motor having a stator and a rotor, a three-phase inverter controlled by a processor connected to the switched-reluctance motor, a load and a converter.

Abstract: A gate driver circuit comprises a sensor, an amplifier, a regulator and a gate driver. The sensor is configured to sense a collector-emitter voltage and includes a first resistor and a second resistor connected in series, a high voltage diode connected between the series connected first and second resistors and a first capacitor connected parallel to the second resistor. The amplifier is configured to amplify a sensor output voltage and includes a non-inverting operational amplifier controlled by means of a plurality of resistors, a voltage follower connected to an output terminal of the non-inverting operational amplifier through a first diode and a third resistor connected across the first diode and the voltage follower. The regulator is configured to regulate a regulator output voltage based on an amplifier voltage. The gate driver is configured to connect/disconnect the regulator output voltage to the base terminal of the BJT.

Abstract: A method for controlling switched reluctance machine (SRM) utilizing a SRM control system. The method allows for adaptive pulse positioning over a wide range of speeds and loads. An initial rotor position is provided for the SRM utilizing an initialization mechanism. A pinned point on a phase current waveform is defined during an initial current rise phase of the current waveform. A slope of the current rise is determined as the current waveform reaches the pinned point. The slope is then fed to the commutation module of the SRM control system. An error signal from calculated inductance or current slope is used as an input to a control loop in the SRM control system. The time determining module determines an optimum time signal to fire a next pulse. The optimum time signal is fed to the SRM for turning the plurality of SRM switches to on and off states.

Abstract: A method and apparatus for determining and/or monitoring a thermal state of charge or melt fraction of phase change material in a battery system. The battery system includes a plurality of electrochemical cell elements, a supply of a phase change material in thermal contact with the plurality of electrochemical cell elements, and a battery management system that monitors a thermal storage capacity of the phase change material and automatically controls a power of the plurality of electrochemical cell elements as a function of the thermal storage capacity of the phase change material. The battery management system automatically adjusts a power output of the plurality of electrochemical cell elements as a function of the thermal storage capacity of the phase change material to provide a heat output within a predetermined safe temperature limit.

Abstract: A system and method for reliable control of a high rotor pole switched reluctance machine (HRSRM) utilizing a sensorless reliable control system. The method comprising: energizing at least one of the plurality of stator phases; measuring a first current value and time taken by the first current value to reach a first peak value or preset threshold value of current; determining a self-inductance value; measuring a second current value and time taken by an adjacent un-energized stator phase to reach a second peak value of current; determining a mutual inductance value; and estimating a rotor position utilizing the self-inductance and mutual inductance values; and controlling the HRSRM based on the estimated rotor position.

Abstract: A gate driver circuit comprises a sensor, an amplifier, a regulator and a gate driver. The sensor is configured to sense a collector-emitter voltage and includes a first resistor and a second resistor connected in series, a high voltage diode connected between the series connected first and second resistors and a first capacitor connected parallel to the second resistor. The amplifier is configured to amplify a sensor output voltage and includes a non-inverting operational amplifier controlled by means of a plurality of resistors, a voltage follower connected to an output terminal of the non-inverting operational amplifier through a first diode and a third resistor connected across the first diode and the voltage follower. The regulator is configured to regulate a regulator output voltage based on an amplifier voltage. The gate driver is configured to connect/disconnect the regulator output voltage to the base terminal of the BJT.