Abstract: A gimbal structure includes a support frame and a center of gravity adjusting device connected to the support frame. The support frame includes a roll-axis support, a yaw-axis vertical bar connected to the roll-axis support, and a yaw-axis horizontal bar carried on the yaw-axis vertical bar. The center of gravity adjusting device is configured to slide the yaw-axis horizontal bar relative to the yaw-axis vertical bar to adjust a center of gravity of the gimbal structure. The center of gravity adjusting device includes a quick release mechanism including a quick release buckle arranged on one side of the yaw-axis vertical bar, a slider arranged between the yaw-axis vertical bar and the yaw-axis horizontal bar, and a screw connecting the slider with the quick release buckle.

Abstract: Systems, methods, and devices of managing a battery assembly used to power an object are provided to discharge a battery assembly for a safe and long-term storage. A controlled self-discharge of the battery assembly may be initiated when the power to the object is turned off for a certain length of time or the battery assembly is not in use for a threshold length of time. The controlled self-discharge may be terminated if the battery assembly reaches a threshold voltage value or the battery is in use again during the self-discharge.

Abstract: Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

Abstract: A detection system of distributed generation islanding based on power frequency carrier, the detection system comprising: a power frequency carrier signal generating device; a power frequency carrier signal detection device; a signal coupling transformer; a substation bus; a distribution power generator (DG); and a safety isolation breaker, wherein the power frequency carrier signal generating device comprises a voltage and current monitor circuit, the power frequency carrier signal generating device is connected with the signal coupling transformer through four three phase four line power cables, and the signal coupling transformer is connected with substation bus through 3 power cables.

Abstract: A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract: The disclosure provides a battery which can include a power supply and power supply circuit, the power supply circuit connected to the power supply. The power supply can discharge through the power supply circuit. An electronic switch can control the power-on or off of the power supply, thereby avoiding the generation of sparks during the power on process and allowing for the normal use of the battery and the safety of the aircraft. The disclosure also provides an aircraft having the battery.

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

Abstract: A motor control system and associated method includes a transform component configured to receive current values associated with a motor being driven by the motor control system, and output rotating coordinate system values representing a flux generating component and a torque generating component of a current space vector. The motor control system and method further includes a control component configured to receive the flux generating component and the torque generating component of the current space vector, and generate motor control signals for driving the motor by performing a Cartesian to polar transform to obtain values associated with a rotating coordinate system followed by an angle addition to convert the rotating coordinate system values to values of a stationary coordinate system.

Abstract: A controller for controlling a multi-phase motor is described. The controller may be configured to measure a plurality of phase voltages of the multi-phase motor when the multi-phase motor is in an uncontrolled state. The controller may be configured to determine, based on the plurality of measured phase voltages, a position and a velocity of a rotor of the multi-phase motor. The velocity of the rotor includes a speed of the rotor and a direction of the rotor. The controller may be further configured to, responsive to determining that the direction of the rotor is a forward direction and the speed of the rotor satisfies a closed-loop threshold speed: set, based on the position of the rotor and the velocity of the rotor, at least one initial control condition of the rotor, and control, using closed-loop control and based on the at least one initial control condition, the rotor.

Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.

Abstract: Representative implementations of devices and techniques provide optimized control of a three-phase AC motor. A field oriented control (FOC) arrangement uses optimization components and techniques to improve power efficiency of the motor, with fast control response over a full range of motor speeds.

Abstract: A synchronization apparatus in a control base station is disclosed. A GNSS synchronization unit receives a GNSS signal through a GNSS antenna to obtain time information. A clock generation unit adjusts a clock of the control base station based on the time information provided by the GNSS synchronization unit. A traffic base station synchronization unit transmits and receives information with a traffic base station through a wired connection. A user data sample generation unit generates data required by a mobile user including network time information, and transmits the data to the mobile user equipment through a control base station antenna.

Abstract: The present disclosure relates to an inertia measurement module for an unmanned aircraft, which comprises a housing assembly, a sensing assembly and a vibration damper. The vibration damper comprises a first vibration-attenuation cushion; and the sensing assembly comprises a first circuit board, a second circuit board and a flexible signal line for connecting the first circuit board and the second circuit board. An inertia sensor is fixed on the second circuit board, and the first circuit board is fixed on the housing assembly. The inertia measurement module further comprises a weight block, and the second circuit board, the weight block, the first vibration-attenuation cushion and the first circuit board are bonded together. The present disclosure greatly reduces the influence of the operational vibration frequency of the unmanned aircraft on the inertia sensor and improves the measurement stability of the inertia sensor.

Abstract: Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure.

Abstract: Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

Abstract: The present disclosure relates to a motor control circuit and related method that includes a transform component configured to receive current values associated with a motor being driven by the motor control circuit, and output polar coordinate values representing a magnitude component and a direction component of a current space vector. The motor control circuit further includes a control component configured to receive the magnitude component and the direction component of the current space vector, and generate motor control signals for driving the motor.

Abstract: A method of performing space vector modulation for PWM control for creating AC waveforms includes generating and sampling a reference signal to generate reference samples and performing a reference vector approximation to synthesize a reference vector associated with at least one of the reference samples. The reference vector approximation employs active vectors, one or more zero vectors, and one or more pseudo zero vectors in the formation thereof. Another method of performing space vector modulation (SVM) includes generating a reference signal and sampling the reference signal at a sampling frequency to generate a plurality of reference samples. The method also includes performing a reference vector approximation to synthesize a reference vector associated with at least one of the reference samples, wherein the reference vector approximation has a first portion that employs two adjacent active vectors and a remaining portion that employs two non-adjacent active vectors in the formation thereof.

Abstract: A motor control system and associated method includes a transform component configured to receive current values associated with a motor being driven by the motor control system, and output rotating coordinate system values representing a flux generating component and a torque generating component of a current space vector. The motor control system and method further includes a control component configured to receive the flux generating component and the torque generating component of the current space vector, and generate motor control signals for driving the motor by performing a Cartesian to polar transform to obtain values associated with a rotating coordinate system followed by an angle addition to convert the rotating coordinate system values to values of a stationary coordinate system.