Abstract: A rudder bias system for an aircraft with a right engine and a left engine includes a component determining a left and right primary and secondary thrust estimates. The system includes a left engine thrust estimate selector determining a left selected estimate based on the left thrust estimates and a right engine thrust estimate selector determining a right selected estimate based on the right thrust estimates. The system includes an enable and mode component determining one or more corresponding validities for the thrust estimates. The system includes a control component generating an engage command based on a thrust differential between the right engine and the left engine, calculated from the left selected estimate and the right selected estimate and a torque command based on an equivalent pedal force assistance calculated as a difference between the thrust differential and an activation threshold.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and utilizing non-uniform volume measures for occupied voxels, where each of the occupied voxels represents an occupied point of an environment of a robot. The volume measure for each of the occupied voxels is a “padding” for the occupied voxel and indicates a volume to be utilized for that occupied voxel. The volume measures for the occupied voxels are non-uniform in that they are not all the same volume measure. During path planning, the non-uniform volume measures of the occupied voxels can be considered as “paddings” for the occupied voxels and the occupied voxels with their corresponding volume measures considered as obstacles.

Abstract: A computer-implemented method of calibrating a camera, comprises the steps of: a. acquiring a video stream from said camera (CAM), and displaying it on a screen (DY); b. displaying on the screen, superimposed to the video stream, a representation of a target area (102); c. detecting a calibration pattern (100) in the video stream and periodically check whether it fits within the calibration area; d. when the calibration pattern is found to fit within the calibration area, extracting an image thereof from the video stream; said steps a. to d. being iterated a plurality of times using respective target areas corresponding to different positions of a physical support (101) carrying the calibration pattern; and then e. estimating intrinsic calibration parameters of the camera by processing said images. A computer program product, computer-readable data-storage medium and computer system for carrying out such a method.

Abstract: A warning sign placing apparatus and a control method thereof are provided. The warning sign placing apparatus includes at least two camera units, a control unit, and a vehicle. The camera unit captures a plurality of images in a preset direction. The vehicle carries at least two camera units and control unit. The control unit identifies a traveling direction of the road and distinguishes at least one object on the road based on the images, and plans a route along the road for the vehicle according to the at least one object, where the vehicle travels along the route. A warning sign is configured in the warning sign placing apparatus and is able to automatically move to a preset position with a preset distance in order to avoid the risk of dangers in a case of manually placing the warning sign.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and utilizing non-uniform volume measures for occupied voxels, where each of the occupied voxels represents an occupied point of an environment of a robot. The volume measure for each of the occupied voxels is a “padding” for the occupied voxel and indicates a volume to be utilized for that occupied voxel. The volume measures for the occupied voxels are non-uniform in that they are not all the same volume measure. During path planning, the non-uniform volume measures of the occupied voxels can be considered as “paddings” for the occupied voxels and the occupied voxels with their corresponding volume measures considered as obstacles.

Abstract: Provided is an electronic watch which achieves a highest-speed fast-forward operation of a step motor based on various environments under which the watch is placed, and enables low-power driving.

Abstract: An image of a physical environment is acquired that comprises a plurality of pixels, each pixel including a two-dimensional pixel location in the image plane and a depth value corresponding to a distance between a region of the physical environment and the image plane. For each pixel, the two dimensional pixel location and the depth value is converted into a corresponding three-dimensional point in the physical environment defined by three coordinate components, each of which has a value in physical units of measurement. A set of edge points is determined within the plurality of three-dimensional points based, at least in part, on the z coordinate component of the plurality of points and a distance map is generated comprising a matrix of cells. For each cell of the distance map, a distance value is assigned representing a distance between the cell and the closest edge point to that cell.

Abstract: A control system for an additive construction implement of a machine is disclosed. The control system may include a relative positioning system for providing relative positioning signals, where the relative positioning signals are representative of a position of the implement relative to a worksite. The control system may receive a three-dimensional structure design file. The control system may further include a controller for determining an implement control plan, where the implement control plan is based on, at least, the relative positioning signals and includes coarse control signals and fine control signals. The control system may further include a coarse control system and a fine control system that controls fine movements of the implement based on the fine control signals. The fine movements may have a fine range of motion, the fine range of motion being less than the coarse range of motion.

Abstract: A control system for an implement of a machine is disclosed. The control system may include a relative positioning system for providing relative positioning signals, where the relative positioning signals are representative of a position of the implement relative to a worksite. The control system may further include a controller for determining an implement control plan, where the implement control plan is based on, at least, the relative positioning signals and includes coarse control signals and fine control signals. The control system may further include a coarse control system and a fine control system that controls fine movements of the implement based on the fine control signals. The fine movements may have a fine range of motion, the fine range of motion being less than the coarse range of motion.

Abstract: A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

Abstract: A system for controlling a vehicle having a brake assembly for exerting braking force on at least one wheel on the basis of a number of control parameters is provided. The system has a safety system configured to generate the control parameters as a function of a control quantity associated with the braking force to be exerted on the at least one wheel; and a vehicle handling enhancement system configured to: calculate a reference vehicle yaw acceleration on the basis of at least the longitudinal speed of the vehicle and the steer angle of the vehicle; and adjust the control quantity to zero the difference between the actual yaw acceleration and the reference vehicle yaw acceleration.

Abstract: The rudder control system (1) comprises means (10) for determining a compensation order for an actuator (6) of the aircraft rudder (7).

Abstract: A vehicle steering control device capable of executing automatic steering and manual steering includes: an automatic control amount-setting device that sets a target automatic control amount based on information about vehicle behavior and ambient environment; a steering control amount-setting device that sets a target steering amount based on a manual steering amount input by a driver and the set target automatic control amount; and a steering device that steers based on the set target steering amount. When the target automatic control amount contributes more in the setting of the target steering amount than the manual steering amount does, the steering control amount-setting device sets the target steering amount so as to better the responsiveness in the lateral shift of the vehicle relatively to the responsiveness in the turning of the vehicle, in comparison with when the target automatic amount does not contribute more than the manual steering amount.

Abstract: There is provided a new and novel vehicle running control device for correcting a yaw angle of a vehicle toward the yaw direction intended by a driver, together with vehicle stability control, through generating yaw moments. In order to accomplish the yaw angle correction, the inventive device operates a yaw moment generating apparatus e.g. a steering apparatus, so as to generate a direction correcting yaw moment based upon an integration value of the deviations between an actual yaw rate and its target value. The direction correcting yaw moment may be generated for correcting the yaw angle deviation remaining after the stability control is ended.

Abstract: A robot control apparatus allows a plurality of mobile robots to carry out tasks at a reduced or minimized cost as a whole with consideration given to costs derived from an encounter with an obstacle is provided. An action optimization controller provided in the robot control apparatus generates an instruction for optimizing actions of the plurality of mobile robots so that the plurality of mobile robots carry out the tasks at a minimized cost, based upon locomotion plan information indicative of locomotion plans of the plurality of mobile robots. A possibility that any robots have an encounter with an obstacle is determined by comparing distances from the robots to the obstacles. A locomotion plan implementation cost is calculated with consideration given to the possibility of encounter, and thus an optimum route is selected based upon the locomotion plan implementation cost with the encounter-derived cost. In accordance with the optimum route, the locomotion plan for the robot is modified.

Abstract: A robot with an edge detector and two operating modes. The first operating mode is a remote control mode. The second operating mode is a processor controlled mode.

Abstract: A method and apparatus that afford a user accelerated access to operation of a balancing personal transporter. The method includes first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter. Apparatus includes single axis and 3-axis stabilizer and means to alert the user of the personal transporter.

Abstract: A system for mobile robots to detect obstructions. Obstructions include objects which may impair the or impede the mobility of the robot, as well as transitions from carpeted surfaces to hard surfaces, transitions from hard surfaces to carpet, or transitions between other types of flooring. The system includes a plow which may move underneath the obstruction, The obstruction may the be brushed aside, or rise to an elevation detectable by the robot. Upon detection, the robot may change its direction of movement or stop moving altogether.

Abstract: A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.

Abstract: An electrical steering system for a vehicle includes an electrically supplied steering motor arrangement which is connected with an inverter arrangement, whose output voltage is influenced by a computer arrangement, and a sensor arrangement. To reduce the cost of the steering system while also allowing the steering system to be steerable during braking in the case of a fault, the steering motor arrangement has a redundant steering motor which is connected with the computer arrangement via two separately run control circuits. The control circuits have separate electric supplies and the computer arrangement is redundant.

Abstract: A method and an apparatus for controlling aircraft rudder movement are disclosed. The system including a yaw damping control portion integrated with a directional compensation rudder control portion, such that the system may simultaneously provide yaw damping control and directional compensation.

Abstract: An electrical fly-by-wire system for operating an aircraft rudder includes a low-pass filter, arranged between a rudder bar and an actuator of a rudder. The low-pass filter receives a control command from the rudder bar corresponding to the degree of travel the rudder bar has experienced from a neutral position. Based on the amplitude of the control command, the filter generates an operating command for the actuator. Additionally, the filter operates such that the higher the fraction of the rudder bar's travel away from the neutral position, with respect to its maximum value of travel, the higher the filter's time constant is set.

Abstract: In a method for current regulation of permanently excited synchronous motors for guided missiles with an electromechanical actuating drive for the rudder, the commanded current is always guided orthogonally to the magnet-wheel flow. Further: a) from measured current of two voltage phases, a measured magnitude of a current-space pointer is determined and an error value for the current is added to a desired value of the amount via a correction regulator; and b) from measured current of two voltage phases as well as from the angle command of the current-space pointer, a measurement for the angle error is determined and added to the desired angle value via a correction regulator. The method according to the invention can be implemented with little hardware expenditure and in a compact design size, even for high rotational speeds of >10,000 min−1. Current-regulating methods used heretofore, which involve frequency response compensation in polar coordinates, cannot be used with synchronous motors, i.e.

Abstract: In an adaptive speed control system for a vehicle, a method and system for automatically adjusting a selected following interval for the vehicle based on driving conditions is provided. The method includes determining a driving surface coefficient of friction based on a driven wheel speed of the vehicle, and adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction. The system includes a receiver capable of receiving a signal indicative of a driven wheel speed of the vehicle, and a controller capable of determining a driving surface coefficient of friction based on the driven wheel speed, and capable of adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction.

Abstract: A method and a device are provided for detecting a tendency of a vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle. To this end, a variable is ascertained describing the dynamics of the vehicle linear motion. The detection strategy used for detecting the tendency of the vehicle to tip is selected from at least two detection strategies at least as a function of the variable describing the dynamics of the vehicle linear motion and/or the detection strategy used for detecting a tendency of the vehicle to tip is adapted, at least as a function of the variable describing the dynamics of the vehicle linear motion, to the dynamics of the vehicle linear motion existing at any one time.

Abstract: In an adaptive speed control system for a vehicle, a method and system for automatically adjusting a selected following interval for the vehicle based on driving conditions is provided. The method includes determining a driving surface coefficient of friction based on a driven wheel speed of the vehicle, and adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction. The system includes a receiver capable of receiving a signal indicative of a driven wheel speed of the vehicle, and a controller capable of determining a driving surface coefficient of friction based on the driven wheel speed, and capable of adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction.

Abstract: In a closed loop control system that governs the movement of an actuator a filter is provided that attenuates the oscillations generated by the actuator when the actuator is at a resonant frequency. The filter is preferably coded into the control system and includes the following steps. Sensing the position of the actuator with an LVDT and sensing the motor position where motor drives the actuator through a gear train. When the actuator is at a resonant frequency, a lag is applied to the LVDT signal and then combined with the motor position signal to form a combined signal in which the oscillation generated by the actuator are attenuated. The control system then controls ion this combined signal. This arrangement prevents the amplified resonance present on the LVDT signal, from causing control instability, while retaining the steady state accuracy associated with the LVDT signal.

Abstract: In an adaptive speed control system for a vehicle, a method and system for automatically adjusting a selected following interval for the vehicle based on driving conditions is provided. The method includes determining a driving surface coefficient of friction based on a driven wheel speed of the vehicle, and adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction. The system includes a receiver capable of receiving a signal indicative of a driven wheel speed of the vehicle, and a controller capable of determining a driving surface coefficient of friction based on the driven wheel speed, and capable of adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction.

Abstract: The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object.

Abstract: A power-saving controller for controlling a stepping motor mounted in an electronic wristwatch. A pulse signal generator in the controller combines two pulse signals GPi and GPi+2 having different duty factors using a compositing signal CP, based on a reference signal BP, thereby compositing a pulse signal GPi+1 having an intermediate duty factor. Even if the frequency of the reference signal BP is lowered, a step size for controlling the duty factor of a drive pulse is prevented from expanding, thereby keeping the driving power required by the stepping motor from increasing. The lowering of the frequency of the reference signal BP reduces the power consumption of the circuit of the wristwatch, and thus of the controller.

Abstract: The driverless vehicle system and method of control therefor includes a fixed camera fixedly mounted to a vehicle and a movable camera movably mounted to the vehicle. A control unit selectively inputs an image from one of the fixed camera and the movable camera, determines a trace angle based on the input image, and controls a steering angle of the vehicle based on the trace angle. The control unit also compares the trace angle to a first reference angle when the control unit inputs images from the fixed camera, and if the trace angle is greater than the first reference angle, the control means generates a desired angular position for the movable camera. A camera moving mechanism moves the movable camera to the desired angular position. Thereafter, the control means selects the movable camera from which to input images.

Abstract: An amusement ride provides an interactive experience to its passengers. The amusement ride includes at least one ride vehicle movable along a track. The amusement ride senses inputs from at least one passenger that affects various elements of the ride. The elements can be the speed of the vehicle, acceleration of the vehicle, direction of travel, orientation of the ride vehicle or the like. The inputs can be audible inputs or optical inputs, water spray, or can be activated manually by the passengers.

Abstract: A controller for a mobile unit providing a setting unit to set an upper limit on the number of corrective rotations of to turn said mobile unit so as to correct the turning angle of said mobile unit, and a turning unit to turn said mobile unit within a range of a set number of corrective rotations to correct the turning angle after said mobile unit has turned.

Abstract: The present invention is directed to a vehicle motion control system for maintaining vehicle stability, even in the case where the vehicle is tilted when the vehicle is in turning motion, wherein a braking force control unit is provided for controlling a braking force applied to each of front and rear wheels of the vehicle. The system includes a tilt detection unit which detects a tilt of a normal axis of the vehicle to its vertical axis, and a turn determination unit which determines a turning condition of the vehicle including a turning direction thereof. A yaw moment control unit is provided for controlling the braking force controlling unit to produce a yaw moment in a direction opposite to the turning direction of the vehicle in response to the tilt detected by the tilt detection unit when the turn determination unit determines that the vehicle is turning.

Abstract: A rudder bar system for a helicopter controlled in yaw by acting on the tail rotor or an equivalent device has a capability, as a function of the parameters representative of the current flight status of the helicopter, of either automatically continuously recentering the forces on the rudder bar, which cancels out the residual static forces and gives the pilot a tactile sensation close to that given by a friction-type rudder bar, or allowing the pilot fully to feel the countering action of an elastic return device such as a spring.

Abstract: An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. FIGS. 90, 91, 92, 93, and 94 provide a map showing relative orientation of the schematic circuits seen in FIGS. 90A-B, 91A-B, 92A-B, 93A-B, and 94A-B, respectively over paths marked by update markers which may be spaced well apart, such as fifty feet. Redundant measurement capability using inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation.

Abstract: The control system includes a control member connected to a control centering device which resists operational control member movement and returns it to a neutral position upon release thereof. Force and position sensors connected to the control member determine operator force exerted thereon as well as the position thereof. Output from the sensors is transmitted to a computer which also receives data relating to position of aircraft controlled surfaces and aerodynamic forces acting on the aircraft as well as flight data, etc. The computer combines and compares that data with other data relating to frictional forces produced by movement of the mechanical control system and data relating to desired control member resistive forces under predetermined operational conditions. The computer thereby determines the magnitude of the control member resistive forces required to produce the desired tactile feel and provides an output based thereon to an actuator which applies these forces to the control member.

Abstract: A method and apparatus for controlling a travelling body having a main body and a steering device along a predetermined route includes a plate-shaped indicator disposed perpendicular to an axis of the main body, an optical pointer emitting light of a first color showing the steering direction of the steering device, a laser beam illuminating the indicator with a laser beam spot of a second color, a TV camera monitoring the optical pointer and the laser beam spot on the indicator, a color separator separating image information of the optical pointer and the laser beam spot, an image processing unit computing position data of the optical pointer and the laser beam spot for outputting steering direction information and optical pointer position information, a fuzzy operation unit processing a steering command using the optical pointer position information, and comparator computing a controlling command for operating the steering device by calculating the difference between the steering command and the steering di

Abstract: A nonholonomic camera space manipulation system which allows a mobile manipulator which can have both holonomic and nonholonomic movement to autonomously use computer vision to move with respect to a goal position without any prior knowledge or calibration between the two or more video cameras used with the computer vision and the manipulator base or arm, the cameras and the goal, or the base and arm and the goal position. Cues are associated with the manipulator arm and the goal position(s) or target bodies; the cues being distinguishable in the two dimensional focal plane camera spaces of the cameras from the surrounding environment. A processing unit, identifying the position of the cues in each camera space, compares those positions and instructs movements of the manipulator base and/or manipulator arm to achieve movement of the visual cue on the arm with respect to the goal position or target body visual cue in camera space.

Abstract: An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. Autonomous vehicle navigation comprises travel over paths marked by update markers which may be spaced well apart, such as fifty feet Redundant measurement capability comprising inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation.

Abstract: A control system for a self-moving vehicle is provided with a pair of driving wheels on both sides of a shaft of a vehicle, motors for driving the driving wheels, velocity encoders for outputting velocity feedback signals in detecting the rotational velocities of the driving wheels being connected to the driving wheels, a main control apparatus for outputting velocity instruction signals instructing the rotational velocities of motors being given a direction instruction signals, a gyro for detecting a yaw rate of the vehicle, and a motor control apparatus for executing the controls of motors in integrating the velocity instruction signals and the velocity feedback signals with integrators for each period of time, and correcting the integrated velocity instruction signals with the integrated velocity feedback signals.

Abstract: A load transport equipment having self-propelled trucks travelling on a predetermined route so as to transport a load by the truck, wherein an encoder is connected to a motor and the pulse number from the encoder is counted by a counter, the counted value being optically transmitted toward another self-propelled truck following the front self-propelled truck on the predetermined route, the following self-propelled truck receiving the counted value from the front self-propelled truck to obtain a difference between the received counted value and that of the following truck, so that the travel speed of the rear self-propelled truck is controlled on the basis of the difference so that the running speed is controlled in accordance with the distance between the trucks thereby preventing a rear-end collision.

Abstract: An actuator suitable for autopilot control of a helicopter tail rotor comprises a direct current motor, a non-reversible gearbox, a speed reducer driving an output shaft, a friction device disposed between the non-reversible gearbox and the speed reducer and a friction exceeded sensing device adapted to cut off the supply of power to the motor.

Abstract: A retrofit apparatus for providing a signal indicative of the position of an aircraft control surface comprises a rotary coupling flexibly coupled to the control surface, an extensible coupling driven by the rotary coupling, a quadric-chain linkage coupled to the extensible coupling for converting a linear output into a substantially translatory displacement, a linkage for converting the translatory displacement into a substantially angular motion, and a transducer coupled to the linkage for converting the angular motion into an electrical output indicative of the position of the aircraft control surface. The invention is a simple modification to an existing quadric-chain linkage driving a mechanical indicator, enabling an electrical transducer to be retrofitted in the crowded control stand of an aircraft.

Abstract: A plurality of mobile robots forming part of a travel control system are controlled by a travel control station. The travel control station directs each of the mobile robots to a destination where it performs selected operations. The robot, in response to instructions from the travel control station, searches the route selected by the travel control station and sends the results of the search to the control station. The travel control station, upon receipt of this information, determines whether or not the travel path searched by the mobile robot is already reserved by another other mobile robot as indicated by data stored in a reservation table. If the path is available, the control station transmits a reservation completion signal to the mobile robot. The mobile robot then travels automatically along the reserved travel path.

Abstract: In accordance with the method, first and second substantially parallel conductors are placed along a pathway and coupled to a controller in a manner so that each may carry a current independently controllable by the controller. A sensing coil is placed in a vehicle having a coil axis approximately perpendicular to the plane of the conductors so as to sense the varying magnetic field caused by varying currents through the two conductors. The controller repetitively provides a half-cycle of current of a given frequency in one of the two wires, immediately followed by another half-cycle of current of the opposite polarity or direction in the other of the two wires.

Abstract: A load transport equipment having self-propelled trucks travelling on a predetermined route so as to transport a load by the truck, wherein an encoder is connected to a motor and the pulse number from the encoder is counted by a counter, the counted value being optically transmitted toward another self-propelled truck following the front self-propelled truck on the predetermined route, the following self-propelled truck receiving the counted value from the front self-propelled truck to obtain a difference between the received counted value and that of the following truck, so that the travel speed of the rear self-propelled truck is controlled on the basis of the difference so that the running speed is controlled in accordance with the distance between the trucks thereby preventing a rear-end collision.

Abstract: A load transport equipment having self-propelled trucks travelling on a predetermined route so as to transport a load by the truck, wherein an encoder is connected to a motor and the pulse number from the encoder is counted by a counter, the counted value being optically transmitted toward another self-propelled truck following the front self-propelled truck on the predetermined route, the following self-propelled truck receiving the counted value from the front self-propelled truck to obtain a difference between the received counted value and that of the following truck, so that the travel speed of the rear self-propelled truck is controlled on the basis of the difference so that the running speed is controlled in accordance with the distance between the trucks thereby preventing a rear-end collision.

Abstract: An autopilot with long term yaw coordination capabilities which utilizes lateral acceleration to generate a rudder force command which is combined with the sensed rudder force to create an error signal which is combined with a rudder servo velocity signal and then integrated to create a virtual rudder position feedback signal for combination with the rudder position commands, generated from yaw rate information.

Abstract: Control means and method for steering an aircraft is disclosed. The aircraft includes engines positioned on opposite sides of its longitudinal axis. The method comprises: selecting an aircraft heading; sensing a deviation from said heading; and varying the thrust of at least one engine in response to the sensed deviation.