Abstract: A system and method for preventing an animal being managed by a human from approaching a certain area using image recognition technology includes an apparatus put on the animal, and a marker having either a preset color or a preset shape or both and installed in the certain area. The apparatus put on the animal includes a camera to capture a ground surface image of a movement path of the animal, a stimulus applicator to apply a stimulus to the animal, a memory to store an image of the marker, and a control unit, and operates the stimulus applicator to apply a stimulus to the animal when an image matched with the image of the marker stored in the memory is recognized in the image captured by the camera as the animal moves.

Abstract: An energy replenishment quantity control system 100 for controlling a replenishment quantity of each energy source in a moving body V which utilizes more than one kind of energy source, comprises a route searching part C10 configured to search a route to a destination, an energy cost calculating part C12 configured to calculate an energy cost of each energy source in using the respective energy sources based on information about the route searched by the route searching part C10, an energy replenishment quantity controlling part E14 configured to control the replenishment quantity of the energy sources based on the energy costs calculated by the energy cost calculating part C12.

Abstract: A robot lawnmower includes a robot body, a drive system, a localizing system, a teach monitor, and a controller in communication with one another. The drive system is configured to maneuver the robot lawnmower over a lawn. The teach monitor determines whether the robot lawnmower is in a teachable state. The controller includes a data processing device and non-transitory memory in communication with the data processing device. The data processing device executes a teach routine when the controller is in a teach mode for tracing a confinement perimeter around the lawn as a human operator pilots the robot lawn mower, when the robot lawnmower is in the teachable state, the teach routine stores global positions determined by the localizing system in the non-transitory memory, and when the robot lawnmower is in the unteachable state, the teach routine issues an indication of the unteachable state.

Abstract: In an arrangement of an area wire for an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, and magnetic sensors for detecting intensity of a magnetic field of the area wire and controlled to run about in an operating area defined by the area wire to perform an operation using the operating machine and to return to a charging device installed on the area wire so as to charge the battery, there are provided with a charging device detecting area set to be used for detecting a position of the charging device, and a turn-back portion formed by bending the area wire at an appropriate position toward the charging device detecting area and again bending the area wire to return in a same direction with a predetermined space, whereby the operating area is divided into a plurality of zones.

Abstract: A suspension control system for a vehicle having a wheel (52) mounted to the vehicle via a suspension device mounted to a mounting point on the vehicle with an electric motor being arranged to apply to the wheel a torque for driving the wheel, the suspension control system comprising a controller arranged to modulate a torque applied to the wheel by the electric motor based on the relative longitudinal movement of the wheel with respect to the mounting point on the vehicle.

Abstract: Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.

Abstract: A path planning autopilot guides vehicles efficiently even when they are far from a desired path.

Abstract: A system and a method for recreating an operation of a crashed vehicle during and/or before the accident. An accident data recorder collects vehicle operation data related to the operation of the crashed vehicle prior to and/or during the accident. A processor may analyze the prior vehicle operation data that may include prior acceleration input data, prior braking input data, and/or prior steering input data and may output vehicle control data to at least one electronic controller based on the prior vehicle operation data. The at least one electronic controller automatically operates the test vehicle on a test surface to recreate an operation of the crashed vehicle during and/or before the accident. At least one electronic controller unit automatically and accurately recreates a response of the crashed vehicle to the prior acceleration input, the prior steering input, and the prior braking input.

Abstract: Method and system for guiding a robotic garden tool (100) is disclosed. The robotic garden tool (100) may include at least two sensing means (108, 110, and 202). The robotic garden tool (100) is equipped to follow along a guiding wire (402) on a lawn (400). While the robotic garden tool (100) moves along the guiding wire (402), the sensing means (108, 110, and 202) may detect a magnetic field strength generated from current carrying guiding wire (402). The method (500) and the system (300) is equipped to provide instructions to the robotic garden tool (100) to follow the guiding wire (402) based on the difference of magnetic field strength sensed by at least two sensing means (108, 110, and 202).

Abstract: It is determined whether or not there is a “wheel to be subject to the vehicle stability control, in which a braking force is decreased with respect to a braking force corresponding to the pressing force of the brake pad due to fade or the like” (reduced braking force wheel) during vehicle stability control. When there is a reduced braking force wheel, a “wheel with a highest order of priority determined in advance for wheels for which a braking force needs to be generated in order to enhance the travel stability in the vehicle stability control” (first braking force allocated wheel) is identified among wheels excluding the reduced braking force wheel, and the pressing force of the brake pad of the first braking force allocated wheel is increased based on a lack of the braking force in the reduced braking force wheel.

Abstract: A self-propelled robot and method for operating the same are provided. The self-propelled robot includes a base, a drive motor, a communication transceiver, at least two laterally spaced-apart range finding sensors and a processor. The base defines a bottom of a payload receiving space. The drive motor is operable to propel the base across a surface. The communication transceiver is configured to communicate with a carry sensor that is remote from the robot. The range finding sensors are configured to provide range information indicative of a distance between the remote device and the range finding sensors. The processor is configured to, when communication transceiver is in communication with the remote device, operate the drive motor to maintain a predefined distance between the range finding sensor and the carry sensor.

Abstract: An operation of a system is controlled according to a control trajectory represented by a solution of a set of differential equations satisfying boundary conditions, wherein the set of differential equations includes ordered piecewise differential equations. The set of differential equations is parameterized to produce a first set of parameters representing values of the solution at switching times and a second set of parameters representing values of the switching times. The first and the second sets of parameters are determined alternately until the boundary conditions are satisfied to produce the solution; and the control trajectory is generated based on the solution to control the operation of the system.

Abstract: An information processing apparatus includes a self-position/self-orientation calculation unit calculating self-position and/or self-orientation in the predetermined coordinate system based on a marker in acquired imaged image data when it is determined that the marker exists within a predetermined area and the marker is imaged in the imaged image data and based on received position information and physical amounts measured by sensors for measuring the physical amounts to be used for autonomous navigation when the marker does not exist within the predetermined area or the marker is not imaged in the imaged image data.

Abstract: A steering wheel is configured as a dual-state input device configured to operate in two distinct states based on a current driving mode. In a manual driving mode, the input device is configured to control a limited set of vehicle functions and in an autonomous mode the input device is configured to control an expanded set of vehicle functions. The steering wheel includes a wheel rim movably mounted on a steering column and a hub disposed within a center of the wheel rim on the steering column, the main body portion comprising an interactive touch screen disposed on the main body portion. The wheel rim is configured to disengage from the hub and move along the steering column to a retracted position.

Abstract: A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Abstract: A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.

Abstract: A domestic robotic system that includes a robot, which is programmed to move within a working area defined by a boundary and has boundary distance sensors that enable it to estimate the current distance from the boundary; the robot is programmed to move across the working area and, secondly, so that when the boundary distance sensors indicate that the robot is a distance X away from the boundary and is approaching the boundary, the robot begins performing a gradual turn; this gradual turn is such that: the robot progressively changes direction while continuing to move across said working area; and the robot transitions from approaching the boundary to receding from the boundary; the robot is also programmed to calculate a path for the gradual turn such that, during the gradual turn, the robot approaches the boundary to a predetermined closest distance before receding from the boundary.

Abstract: A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

Abstract: A first sensor detects whether an object is within a first region that surrounds the first sensor. A second sensor detects whether the object is within a second region that surrounds the second sensor. The first and second sensors are omnidirectional capacitive electrodes. In response to the first sensor detecting that the object is not within the first region, a device determines that the object is not proximate to a particular side of the first and second sensors. In response to the first sensor detecting that the object is within the first region, and the second sensor detecting that the object is within the second region, the device determines that the object is not proximate to the particular side. In response to the first sensor detecting that the object is within the first region, yet the second sensor detecting that the object is not within the second region, the device determines that the object is proximate to the particular side.

Abstract: A system having a primary inertial measurement unit and a secondary inertial measurement unit configured to generate a primary position signal and a secondary position signal respectively is provided. The system also includes an error detection module communicably coupled to the primary inertial measurement unit and the secondary inertial measurement unit. The error detection module is configured to receive the primary position signal and the secondary position signal and detect if an out-range error is present in at least one of the primary position signal and the secondary position signal. The error detection module is also configured to detect if an in-range error is present in at least one of the primary position signal and the secondary position signal and determine an action to be performed based on the presence of at least one of the out-range error and the in-range error.

Abstract: A method and a device for navigating an electric vehicle in charging are provided. The method comprises: S1, obtaining a navigation area, wherein the navigation area comprises a plurality of charging stations; S2, receiving a charging request from an electric vehicle in the navigation area; S3, obtaining a plurality of first time periods according to the electric vehicle and the plurality of charging stations; S4, selecting a minimum first time period from the plurality of first time periods; and S5, navigating the electric vehicle to a charging station corresponding to the minimum first time period.

Abstract: A method of determining an object distance from a vehicle includes sending a first transmission signal during a first burst period from a first transmitter, listening for a first reflection signal during a first listen period in a receiver, and sending a second transmission signal during a second burst period from a second transmitter. The second transmission signal is sent based on a time when the first transmission signal is sent.

Abstract: A system for guiding an automated guided vehicle (AGV) is provided. The system includes a guidance path, an AGV, an image capturing apparatus and an operation unit. The guidance path guides the AGV. The AGV moves on the guidance path and is guided by the guidance path. The AGV moves in a vision guidance region after departing from the guidance path. The image capturing apparatus captures a vision guidance region associated image. The vision guidance region associated image at least includes an image of the vision guidance region. The operation unit determines whether the AGV departs from the guidance path, and calculates position information of the AGV in the vision guidance region. When the AGV departs from the guidance path, the operation unit guides the AGV according to the vision guidance region associated image.

Abstract: A convoy travel apparatus in a self vehicle of a convoy organizes plural convoys of traveling vehicles in consideration of a non-convoy vehicle that desires to pass the plural convoys when the plural convoys are traveling in parallel on a multi-lane road. The apparatus determines whether the plural convoys are traveling in parallel with each other on a multi-lane road, and if an in-parallel travel state of the convoys is determined, the self vehicle in one of the convoys may be accelerated or decelerated to allow the non-convoy vehicle to pass the plural convoys.

Abstract: A solution for navigating a vehicle is provided. The vehicle is navigated from a start location to a target location using a set of linear paths. A current linear path is identified between a current location of the vehicle and the target location. At least a portion of the current linear path is evaluated for a presence of an obstacle. In response to no obstacle being present along the current linear path, the vehicle is instructed to travel along the current linear path to the target location. In response to an obstacle being present, the vehicle is instructed to travel along a different linear path from the current location to an intermediate location, which is selected based on an extent of the obstacle and the current linear path. The process can be repeated until the vehicle arrives at the target location.

Abstract: A robot system includes a first cell and a second cell. The first cell includes a first robot, a first controller, and a first casing. The first robot performs work on a to-be-worked material. The first controller controls the first robot. The first casing accommodates the first robot and the first controller. The second cell includes a second robot, a second controller, and a second casing. The second robot performs work on a to-be-worked material. The second controller controls the second robot. The second casing accommodates the second robot and the second controller. When the first casing and the second casing are connected to each other, the first controller and the second controller respectively control the first robot and the second robot to work in a common operation area, where a first movable area and a second movable area overlap.

Abstract: The robotic leader-follower navigation and fleet management control method implements SLAM in a group leader of a nonholonomic group of autonomous robots, while, at the same time, executing a potential field control strategy in follower members of the group.

Abstract: A machine vision process monitors and controls safe working practice in a production area by capturing and processing image data relative to personal protective equipment (PPE) worn by individuals, movement of various articles, and movement-related conformations of individuals and other objects in the production area. The data is analyzed to determine whether there is a violation of a predetermined minimum threshold image, movement, or conformation value for a predetermined threshold period of time. The determination of a safety violation triggers computer activation of a safety control device. The process is carried out using a system including an image data capturing device, a computer and computer-readable program code, and a safety control device.

Abstract: An electric vehicle including a plurality of motors for individually driving left and right drive wheels is provided with a motor abnormality detector for detecting the occurrence of an abnormality in each of the motors and one side abnormality response controller. The one side abnormality response controller controls, when an abnormality other than a motor stoppage is detected the motor in the wheel of either one of the left and right, which are arranged at the same forward or rearward position of the vehicle, by the motor abnormality detector, the motor for the other wheel to approach the same condition as that of the motor in which the abnormality has been detected.

Abstract: The present invention relates to a method (300) and a system (100) for guiding a robotic garden tool to a predetermined position. The robotic garden tool includes a control unit (104) and a sensor unit (102) to detect signals. The sensor unit (102) detects a first signal (110) from a first signal source (106) and the robotic garden tool follows the first signal (110) at a varying distance from the first signal source (106) that is less than or equal to a maximum distance to the first signal source, towards the predetermined position. Wherein, the varying distance is a function of the strength of the detected first signal (110). While detecting the first signal (110), the sensor unit may also detect a second signal (112) from a second signal source (108).

Abstract: A method of monitoring the condition of a steering system comprises the steps of repeatedly measuring the angular position of a steering wheel, identifying from the measurements of steering wheel position a first moment in time at which the steering wheel comes to rest in an off center position following movement in a first direction away from a straight ahead position, measuring the torque applied to the steering system at that first moment in time, identifying from the measurements of steering wheel position a second moment in time at which the steering wheel first starts to moves away from the off center position in the opposite direction to the first direction, measuring the torque applied to the steering system at that second moment in time, calculating the difference between the measured torques at the first moment of time and second moment of time to provide a static friction value and comparing the calculated static friction value with a target static friction value to provide an indication of the con

Abstract: A vehicle includes a powertrain controller, an energy storage system (ESS), a traction motor, an electrical device such as an HVAC system and/or auxiliary system, and a navigation system. The navigation system generates a recommended eco-route or other travel route. The navigation system receives vehicle state information including a current powertrain state from the controller and a power load value from the device(s), including a state of charge of the ESS. The vehicle state information is used to select between a charge-depleting and a charge-sustaining costing model. The route is generated using the selected model, and then displayed. The navigation system includes a host machine which selects the model and generates the route, and a display screen for displaying the route. A method for generating the route includes receiving the current powertrain state and power load values, and using the state information to select between the charge-depleting and charge-sustaining models.

Abstract: Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner may prevent repeated executions of a cleaning operation by recognizing its position through an absolute position recognition unit, in a case that the cleaning operation is performed again after being forcibly stopped due to arbitrary causes. And, the robot cleaner may solve a position recognition error by a relative position recognition unit with using an image detection unit, and may effectively perform a cleaning operation based on a similarity between an image detected by the image detection unit and an image with respect to a cleaning region. This may improve the system efficiency and stability, and enhance a user's convenience.

Abstract: Topographical data for a work location is created and information on a new travel route is generated. Next, a work location including the new travel route is constructed on the basis of the created topographical data. Then, the information on the new travel route generated is provided to the vehicle, the vehicle is made to travel along said new travel route in accordance with temporary travel control data, and actual topographical data for the new travel route is acquired. Next, the aforementioned temporary travel control data is corrected on the basis of the acquired actual topographical data for the new travel route. After that, the unmanned vehicle is made to travel in accordance with the corrected travel control data.

Abstract: A power converter includes a first electric power conversion unit having an inverter for converting a first DC electric power to an AC electric power, an AC circuit connected to the first electric power conversion means; a second electric power conversion unit for receiving the first DC electric power and converting the same to a second DC electric power having a voltage level that differs from the voltage level of the first DC electric power, a power storage unit for storing the second DC electric power of the second electric power conversion unit; and a ripple suppressor having a first inductance for guiding the second DC electric power of the second electric power conversion unit to the power storage means and a second inductance for suppressing the ripple component included in the second DC electric power arranged between the second electric power conversion unit and the power storage unit.

Abstract: A robotic mower boundary sensing system includes a boundary driving circuit on a charging station transmitting an encoded signal on a boundary wire, a boundary sensor on a robotic mower and including an inductor receiving the encoded signal, and a vehicle control unit on the robotic mower receiving the encoded signal from the boundary sensor and decoding the signal and cross correlating the received signal to determine the distance of the boundary sensor from the boundary wire.

Abstract: A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.

Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Abstract: An apparatus and method for guiding an automatic guided vehicle along a magnetic pathway and more specifically to an apparatus and a method capable of accurately and precisely following a weak magnetic field emitted by a substantially continuous passive magnetic marker having route junctions.

Abstract: A method for a safety system of a mining vehicle. The method comprises scanning the surroundings of the mining vehicle while the mining vehicle is driven and giving a collision warning if an obstacle is detected in a safety zone of the mining vehicle. In the system, there is stored obstacle information comprising at least location information of predetermined obstacles. Location information of the obstacle detected on the basis of the scanning is compared with the location information determined in the obstacle information. Stopping of the mining vehicle, caused by the safety system due to the detected obstacle, is prevented in response to the detected obstacle being determined safe on the basis of checking the obstacle information.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.

Abstract: A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

Abstract: A vehicle has an apparatus (2) for charging an electrical energy store (3) from a stationary power supply system. An existing controller (6) of the vehicle is configured to calculate and indicate an amount of electrical energy drawn from the stationary power supply system by using a time information item provided in the vehicle controller (6). Alternatively, a battery management system (1) is configured to calculate and indicate the amount of electrical energy drawn from the stationary power supply system by using the time information item provided in the existing vehicle controller (6).

Abstract: An improvement of methods and systems using mobile and distributed data stream mining algorithms for mining continuously generated data from different components of a vehicle. The system is designed for both on-board and remote mining and management of the data in order to (1) detect the effect of various engine parameters on fuel consumption behavior, (2) predictive classification of driving patterns and associative indexing of driver performance matrix, (3) resource-constrained anomaly detection for onboard health monitoring, (4) vehicle-to-vehicle social networking and distributed data mining, (5) adaptive placement of advertisements based on vehicle performance profile and (6) onboard emissions analytics computation for wireless emissions monitoring and smog test.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: A computer program product includes a storage medium that stores instructions for execution by a processing circuit for practicing a method for synchronous communication in a control system. Within a first time interval, a first source task is executed to broadcast a first destination task, within a second sequential time interval, the first destination task is communicated over a channel to a first destination, and within a third sequential time interval, the first destination task is consumed. Within the first time interval, a second source task may be executed to broadcast a second destination task, within the second sequential time interval, the second destination task may be communicated over the channel to a second destination, and within the third sequential time interval, the second destination task may be consumed. The first source task is allowed to be scheduled ahead of the second source task, and the second source task is allowed to be scheduled ahead of the first source task.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: A robotic mower boundary sensing system includes a boundary driving circuit on a charging station transmitting an encoded signal on a boundary wire, a boundary sensor on a robotic mower and including an inductor receiving the encoded signal, and a vehicle control unit on the robotic mower receiving the encoded signal from the boundary sensor and decoding the signal and cross correlating the received signal to determine the distance of the boundary sensor from the boundary wire.