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 electric power system having an electric motor, a speed-reduction mechanism, a power board on which components generating heat are mounted, a control board on which components generating little heat are mounted, a circuit case, and a heat sink for dissipating heat from the power board. A conductive board for wiring is insert-molded in the circuit case. The power board is brought into intimate contact with the heat sink. The circuit case is mounted to the heat sink so as to cover the power board. The control board is mounted to the circuit case. The power board, the circuit case, and the control board are stacked on top of each other in this order to constitute a controller. The motor is mounted to the heat sink by support members. The heat sink is mounted to the speed-reduction mechanism.

Abstract: A vibrating structure gyroscope having a vibrating structure (3) primary drive means (4) and secondary drive means (7) and primary pick-off means (2) and secondary pick-off means (6) is provided with a control system. The control system includes a primary closed control loop (1) for controllably varying the drive signal applied to the primary drive means (4), a secondary closed control loop (5) for controllably varying the drive signal applied to the secondary drive means (7) in order to maintain a null value of the secondary pick-off means (6) and means (30) for actively adjusting the scalefactor in the primary and secondary closed control loops (1, 5). The means (30) includes means (34) for dividing a rate response signal from the loop (5) by a signal indicative of the amplitude of the primary mode vibration. The output form the means (34) is filtered to provide an applied rate output.

Abstract: The invention concerns an enhanced system for the stabilization of an object with reference to a moving platform. The invention is in particular suitable for the stabilization of a shipborne optical search sensor. The system comprises a stabilization platform and a regulator According to the invention, the regulator calculates control signals for the stabilization platform on the basis of a combination of absolute ship's angular position signals and signals produced by rate gyro systems mounted on the stabilization platform. Thus, disturbances caused by flexure of the ship's structure and the stabilization platform are effectively compensated for. Said signals are preferably combined by frequency-dependent weighting.

Abstract: A motor-controlling circuit for an optical-axis-adjusting unit of an illuminating device. The motor-controlling circuit ensures smooth control of a motor, which adjusts an optical axis, and ensures accurate repetition of a motor-stop position by way of PID and PWM control. The motor-controlling circuit 9 includes a motor 7 and a position detecting portion 6b. Feedback control is performed whereby an error between the motor's present position information, and the target value of position control, becomes zero. The motor-controlling circuit also includes a calculation portion 14 including a proportional-calculation portion 11, an integration-calculation portion 12, a differential-calculation portion 13, and a PID-calculation-processing portion 15 that calculates control by adding weighted respective outputs of the calculation portion 14.

Abstract: An object of the present invention is to provide a motor control system comprising an R/D converter which is capable of outputting a good phase signal without being affected by the switching noise due to a PWM signal of an inverter and a motor control method. A motor control system comprising a motor 3 having a resolver 8 as a rotary sensor; an inverter 10 for driving the motor; and a control unit 11 for controlling the inverter, the control unit executing phase calculation processing based on a phase signal which is an output of the resolver converted by an R/D converter 15, calculating a voltage reference based on a current reference and a current value of the motor detected by a current sensor 12, generating a PWM signal for controlling the inverter based on the voltage reference, wherein a PWM synchronism signal 212 in synchronism with the PWM signal is generated in the control unit, and the R/D converter 15 is driven using the PWM synchronism signal.

Abstract: A calculation system for calculating the control signals which are designed to perform a frequency-dependent weighting of the angular velocity signals and the angular position signals. The angular velocity indicators are preferably used for stabilization in a high frequency band while the angular position indicators are suitable for stabilization in a low frequency band. A further calculation system which is designed to perform the frequency-dependent weighting such that the control signals for frequencies below a certain frequency are substantially determined by the angular position signals and the control signals for higher frequencies are substantially determined by the angular velocity signals.

Abstract: A method and apparatus for controlling the leveling table of a wafer stage is described. More generally, the invention includes control circuitry for controlling motion of a stage, where the stage is adapted to support a workpiece. The control circuitry measures position in a vicinity of the workpiece. Based upon the measured position, the control circuitry drives the stage toward a target position while accounting for nonlinear dynamics of the stage. The nonlinear dynamics may include inertia, in which case the control circuitry adaptively estimates the inertia of the stage. The nonlinear dynamics may also include tilt due to acceleration or deceleration of the stage, in which case the circuitry adaptively estimates the tilt of the stage. The stage may generally travel in a plane, and the circuitry measures position in a direction orthogonal to the plane. The circuitry may measure the position of the workpiece itself, or the position of an upper surface of the stage.

Abstract: A guideless stage for aligning a wafer in a microlithography system is disclosed, and a reaction frame is disclosed which isolates both external vibrations as well as vibrations caused by reaction forces from an object stage. In the guideless stage an object stage is disclosed for movement in at least two directions and two separate and independently movable followers move and follow the object stage and cooperating linear force actuators are mounted on the object stage and the followers for positioning the object stage in the first and second directions. The reaction frame is mounted on a base structure independent of the base for the object stage so that the object stage is supported in space independent of the reaction frame. At least one follower is disclosed having a pair of arms which are respectively movable in a pair of parallel planes with the center of gravity of the object stage therebetween.

Abstract: For detecting a coil short-circuit in an electric motor such as a switched reluctance motor, an apparatus includes a first phase coil, a second phase coil, and a third phase coil. Through each of the coils, a current, whose amount is sensed by a current sensor, flows in such manner that the amount ranges from zero to a reference current amount in a reference set-up time duration. If the detected amount of current by the current sensor becomes the reference current amount in a time duration which is shorter than the reference set-up time duration and the resultant condition continues for an another reference time duration, it is regarded that a short-circuit occurs in the phase coil corresponding to the current sensor and the apparatus stops the electric motor.

Abstract: In a rotation sensor having a resolver attached to a rotor and a signal processing unit for angle detection for supplying a reference signal having a predetermined periodic waveform to the resolver, allowing the resolver to generate a sin signal having a waveform obtained by amplitude-modulating the reference signal by sin &thgr; and a cos signal having a waveform obtained by amplitude-modulating the reference signal by cos &thgr;, and detecting the angle &thgr; on the basis of the sin signal and cos signal, there are provided a signal processing unit for rotation detection for outputting a rotation pulse signal and a reference position signal on the basis of the angle &thgr; and a signal process abnormality detecting unit for detecting the presence or absence of an abnormality in the signal processing unit for angle detection on the basis of the angle &thgr; and an angle &thgr;′ calculated from both of the rotation pulse signal and the reference position signal of the signal processing unit for rotatio

Abstract: Beginning with a successive commanded end-effector destination shift, the method of the invention, which includes a calculation corresponding to a special algorithm of inverse kinematics using the Jacobi Matrix in the control of a manipulator, effects an optimization of weighted criteria (energy criteria, acceleration criteria and reference-position criteria) in a real-time cycle while reliably maintaining all path limitations and resulting in an optimized acceleration behavior. The method of the invention can be used in interactive path guidance of a manipulator and/or as a modular component of a superordinate task, such as for force-control objectives.

Abstract: A control system stabilizes the flexible body bending modes of a space, airborne, or ground-based system, while providing angular position control of an oscillating mass connected to a counter-oscillating counterbalance. The actuating mechanism uses two drive motors to exert torques on the mass and counterbalance, respectively, under the control of a feedback controller. The controller has a first control channel generating a first torque command signal for the first drive based on the angular position of the mass, and a second control channel generating a second torque command signal for the second drive based on the angular position of the counterbalance and a torque cross-feed signal from the first control channel. The second control channel includes a notch filter for removing input frequencies in a predetermined bandwidth about the frequency of the first torque command signal.

Abstract: The three dimensional probe device of the present invention is mountable on a working end of a fully automated and articulated robotic arm movable through at least five degrees of axial freedom in a global dimensional reference. The three dimensional probe device comprises a base, a carriage, a probe, a Z axis measuring apparatus and a tilt measuring apparatus. The probe tip contacts the work piece surface to be traced with deflections in the workpiece seam or path resulting in movement of the carriage and probe. The probe includes a plate and a ball which is pivotable in a ball socket portion of the carriage. Movement of the carriage in relation to the base provides measurement data for rotational change in the direction of the workpiece path or seam. Tilting of the probe provides measurement data for translational change in the direction of the workpiece path or seam.

Abstract: A system and method are provided for controlling a stepper motor having a rotor and a multi-phase stator. Sinusoidal command signals define a commanded position of the motor's rotor. An actual position of the rotor is sensed as a function of an electrical angle between the actual position and the commanded position. The actual position is defined by sinusoidal position signals. An adjustment signal is generated using the sinusoidal command signals and sinusoidal position signals. The adjustment signal is defined as a function of the cosine of the electrical angle. The adjustment signal is multiplied by each sinusoidal command signal to generate a corresponding set of excitation signals, each of which is applied to a corresponding phase of the multi-phase stator.

Abstract: A swing drive system for a surface mining shovel comprising an alternating current motor having a plurality of distributed rotor coils mounted on the lower body and a plurality of distributed stator coils connected to a power supply and mounted on the upper frame. Operation of the motor causes the upper body to rotate or swing relative to the stationary lower body. The rotatable upper frame and thereby the stator coils are movably supported on a circular track forming part of the lower stationary body by means of rollers positioned between the upper frame and the lower body. The upper frame may have a circular track facing the lower track and the rollers then roll on the lower circular track in engagement with both the upper and lower circular tracks to rotatably support the upper frame on the lower body. The rotor coils are preferably positioned between the rollers and the stator coils. The motor is supplied with three phase A.C.

Abstract: A vehicle sliding door opening/closing control device comprises a control unit for outputting a standby signal and shifting into a standby mode when for a predetermined time there has been no user-operation input for causing a vehicle sliding door driven by a motor to be open/close-driven and shifting into an operating mode and performing control of the motor when there has been a user-operation input and a switch unit for shorting power input terminals of the motor on the basis of the standby signal. When there has been no user-operation input for causing the sliding door to be open/close-driven for a predetermined time, by shifting into a standby mode the power consumption of the control unit can be kept small and as a result it is possible to suppress the battery power consumption of the control unit. Also, in the standby mode, by shorting the power input terminals of the motor it is possible to keep the motor in a locked state and thereby apply braking to the sliding door.

Abstract: A tilt servo controlling apparatus is provided with: an optical pickup for emitting a light beam onto an optical record medium and detecting a reflection light from the optical record medium to thereby output a detection signal; a level detecting device for detecting a level of the detection signal outputted by the optical pickup; a tilt error correcting device for correcting a tilt error due to an aberration, which is generated by a tilt angle between (i) a normal line of a surface of the optical record medium at a position irradiated with the light beam and (ii) an optical axis of the light beam; and a tilt error correction controlling device for outputting a control signal to control a correction amount of the tilt error correcting device, by giving a variation to the control signal on a time base and adjusting the control signal so that the level detected by the level detecting device be optimized with respect to the variation of the control signal.

Abstract: A satellite mechanism is provided for tilting a directional device such as an earth sensor, telescope, antenna, reaction wheel, etc. through a small angle using flexural supports which provide rigidity in all directions. The tilting mechanism is flexurally supported (semi-fixed) on two points and moved (pivoted) through a small arc at a driven point by an eccentric drive. The flexurally supported points comprise a diaphragm whose periphery is clamped to a supporting structure while one side of a flexural pivot is attached at the center and the other side of the flexural pivot is attached to the earth sensor or pivoted element. The driven point has a similar diaphragm whose periphery is attached eccentrically to an harmonic drive motor. Accordingly, the directional device may be driven through a small angle without moving the entire satellite.

Abstract: An acceleration sensor includes a first acceleration sensor and a second acceleration sensor both disposed neither parallel to the plumb plane nor perpendicularly to the plumb plane, wherein the first acceleration sensor and the second acceleration sensor are disposed such that they are symmetrical to each other with reference to the plumb plane. A summing circuit is provided for obtaining the sum of an output signal of the first acceleration sensor and an output signal of the second acceleration sensor, and a differential circuit for obtaining the difference between the respective output signals of the first acceleration sensor and the second acceleration sensor, so that acceleration in the horizontal direction is obtained from one of the output signals of the summing circuit and the differential circuit, and the gravitational acceleration is obtained from the other of the output signals of the summing circuit and the differential circuit.

Abstract: A tuning fork gyroscope has an in-plane position sensitive pick-off to which an AC or AC+DC bias is applied. Intermodulation is exploited to produce beat-notes between the applied frequency and the motor frequency at amplitudes proportional to motor amplitude, but unaffected by error sources such as spurious substrate charge accumulation. The beat-notes are used to control motor amplitude without the effects of charge accumulation.

Abstract: The present invention provides a circuit for correcting a horizontal state of a disk transferring device including chucks for clamping a selected disk from a cartridge, a chuck transferring body for transferring the chucks right or left, a lower frame combined with the chucks and the chuck transferring body to move them left or right, and first and second frames formed integrally with the chucks, the chuck transferring body and lower frame and fixedly connected to belts to move the chucks, chucks transferring body and lower frame up and down by the belts.

Abstract: A system for the automatic regulation of daylight admitted into a room, specifically intended for daylighting applications. A preferred embodiment, system 10, consisting of a conventional control unit 11, a conventional exterior brightness sensor 12, and a conventional electronically controlled window covering 13, operates to block direct solar radiation while admitting substantial diffuse illumination. Control unit 11, brightness sensor 12, and window covering 13 are interconnected in a known manner to enable control unit 11 to register the brightness of the external illumination, and to actuate window covering 13. Control unit 11 consists of a conventional microcontroller 14, a conventional real-time clock/calendar 15, and a conventional Non-Volatile Memory (NVM) 16. Microcontroller 14, clock/calendar 15, and NVM 16 are interconnected in a known manner to enable microcontroller 14 to register the output of clock/calendar 15, and to exchange data with NVM 16.

Abstract: An Electric Vehicle Monitoring System (EVMS) for measuring the performance f an electric vehicle. The preferred embodiment of the system comprises: (1) a variety of sensors for obtaining data on vehicle performance and operating parameters; (2) a digital dashboard display providing the vehicle operator with information on vehicle operating parameters; (3) a data acquisition system for collecting the data from the sensors and converting the data to digital format; and (4) a processing unit in the form of a removable, portable or notebook computer used for storing, evaluating and providing reports of the digital format data. The EVMS is adapted for use in a vehicle specifically designed for electric propulsion or for use in an internal combustion engine vehicle converted to electrical power use. The sensors include voltmeters, ammeters, thermocouples, optical shaft encoders and an inclinometer and provide data to both the operator display and the data acquisition system.

Abstract: A method and system for estimating an inertia of 2-mass system constituted by a motor and a load connected through a torsionable shaft during operation. The estimating method is implemented as follows: (a) obtaining a deviation between a motor speed preset value and a motor speed in a deviation section; (b) inputting the deviation from the deviation section into an adding section through a speed control amplifier; (c) obtaining a motor generating torque by inputting the output from the speed control amplifier and the load torque estimate into an adding section; (e) inputting the motor generating torque into a model of the 2-mass system; and (f) obtaining an inertia error by inputting the load torque estimate into the inertia error estimating section. With this method, it becomes possible to estimate the inertia of the 2-mass system even if the load inertia is varied during operation.

Abstract: The system includes a mobile remote unit sensitive to infrared (IR) signals transmitted by a base or stationary unit and an IR transmitter which is placed behind a rotating lens whose position at any time is known with precision resulting in the IR signal being "scanned" across an area. The remote unit detects when the peak strength of the signal occurs and provides this data via an RF signal to the base unit wherein the exact effective angle between the axis of the IR signal and the remote unit creates an error signal used by the base unit to position the camera mounted thereon. Transmitters for TILT and two PAN positions, PAN 1 and PAN 2, are used to include range calculations for ZOOM functions. Command circuitry to override the automatic tracking function is provided in each of the units.

Abstract: A multi-freedom electric motor has a broad operational range and a wide space for accommodating an article. The electric motor includes a spherical rotor, a plurality of magnets disposed on an outer surface of the rotor with polarities of the respective adjacent magnetic poles being different from one another, a stator provided along the outer surface of the rotor, and a plurality of magnets opposed to the magnets disposed on an inner surface of the stator. The rotor is supported by a spherical bearing provided on the stator. Either the magnets on the rotor or the magnets on the stator are electromagnets. Electric current are supplied to the electromagnets as controlled by a controller. The multi-freedom electric motor can be employed in a space stabilizer for maintaining the spherical attitude of an article, a control moment gyro for performing an attitude control in space, and an agitating apparatus.

Abstract: A state detector and loop compensation parameter controller for use with an active hand controller system having a single hand controller or having first and second hand controllers, processing and control means for the hand controllers and a flight control computer. The state detector and loop compensation parameter controller accepts a plurality of inputs and provides a plurality of adjustment signals to the processing and control means to improve the performance of the active hand controller system.

Abstract: The present patent application discloses a camera provided with judging means for automatically judging the direction in which an object to be photographed is located, and control means for correctly controlling the camera by obtaining measured distance information and/or measured light information of the direction in which the object is located on the basis of an output of the judging means.

Abstract: A friction compensation system which augments a stabilization rate loop includes a first summer (11) responsive to a rate command signal and a feedback signal to provide a torque command signal, a second summer (17) responsive to the torque command signal via torquer (15) and the gimbal torque disturbances to provide a net applied torque, a gimbal (19) subjected to the gimbal torque disturbances and having an inertial rotation governed by the net applied torque and a gyro (21) responsive to the inertial rotation of the gimbal to provide the feedback signal. An adaptive friction compensator responsive to the torque command signal provides an enhanced torque command signal to which an intermediate third summer (33) is responsive in accordance with a predetermined model (31) which is adjusted adaptively in realtime. The third summer is responsive to the torque command signal and the enhanced torque command signal to control the gimbal.

Abstract: The system includes a base unit sensitive to infrared (IR) signals transmitted by a mobile remote unit to an IR receiver which is placed behind a rotating set of signal blocking blinders whose position at any time defines a view angle with a position known with precision resulting in the IR signal reception scanning across an area. The base unit detects when the peak strength of the signal occurs and utilizes this data to determine the exact effective angle between the axis of the IR signal and the base unit to create an error signal used by the base unit to position the camera mounted thereon. Receivers for TILT and two PAN positions, PAN 1 and PAN 2, are used to include range calculations for ZOOM functions. Command circuitry to override the automatic tracking function is provided in the base unit.

Abstract: An apparatus 400 and a method are provided for increasing the density of a compactible material 10 while continuously evaluating the density of the material. The evaluation of material density is carried out by calculating the total of the static, dynamic and centrifugal forces applied by a vibrating tool 102 l to the compactible material 10. The total applied force calculation includes measuring the vertical acceleration of the material contacting member 102 and the position of an eccentric mass 206 mounted on the material contacting member 102. The acquisition of these parameters is carried out simultaneously, and the calculation of the dynamic and centrifugal forces is made when the material contacting member 102 is at its lowest position.

Abstract: An apparatus and a method are provided for controlling the frequency of vibration of a compacting machine. The frequency control is carried out by the apparatus which determines the actual time at which a ground contacting member of the compacting machine is at its true vertically lowest position. This is determined by measuring the time at which the vertical acceleration of the ground contacting member has a maximum value during one rotation of an eccentrically mounted, vibration inducing mass. The time difference between the time at which the vibration inducing eccentric mass is at predetermined position and the time at which the acceleration of the ground contacting member is at the maximum value is used to calculate a phase angle relationship (.phi.) between the ground contacting member and the eccentrically attached member. This method of determining the phase angle relationship (.phi.

Abstract: Arrays of actuators are affixed to structural elements to impede the transmission of vibrational energy. A single pair is used to provide control of bending and extensional waves and two pairs are used to control torsional motion in addition to these two types of wave motion. The arrays are applied to a wide variety of structural elements such as a beam structure that is part of larger framework that may or may not support a rigid or non-rigid skin. Electrical excitation is applied to the actuators that generate forces on the structure. These electrical inputs may be adjusted in their amplitude and phase by a controller in communication with appropriate vibrational wave sensors to impede the flow of vibrational power in all of the above mentioned wave forms beyond the actuator location. Additional sensor elements can be used to monitor the performance and adjust the electrical inputs to maximize the attenuation of vibrational energy.

Abstract: An electric power steering system which additionally includes a radial arm extending from a steering rod, an axial shaft extending in parallel with the axial center line of the steering rod, an axial bore formed in the casing of the system for guiding axial movement of the axial shaft substantially without any play, and a spring member urging the axial shaft against a side wall of the axial bore. Thus, rotation of the steering rod around its axial center line may be prevented with a relatively small force. Therefore, no excessive force needs to be applied to the axial shaft, and the axial shaft would not encounter any substantial resistance to its axial movement.

Abstract: A shuttle control for a storage and retrieval machine has a supervisory control mounted on the base of the storage and retrieval machine and a shuttle control mounted on the carriage of the storage and retrieval machine. The supervisory control receives shuttle operating commands and information signals and provides operating instruction signals for the shuttle to the shuttle control. The shuttle control receives the operating instruction signals from the supervisory control, produces operating information signals to the supervisory control, and controls the operation of a shuttle motor drive. A circuit having sliding contactors moving with the carriage on vertical slide bars mounted on the mast transmits operating instruction signals and information signals between the supervisory control and the shuttle control at a maximum transmission rate limited by the problems of transmitting the signals through the sliding contactors.

Abstract: An integrated stabilized optical and navigation system comprising a gimballed platform, acceleration and velocity sensors associated with the gimballed platform, platform positioning apparatus responsive to outputs of the acceleration and velocity sensors for maintaining a desired orientation of the gimballed platform and a navigation computer being responsive to the outputs of the acceleration and velocity sensors for providing an output indication of location.

Abstract: A method controls adjustment devices of a motor vehicle seat. The devices are assigned to the longitudinal movement of the seat and the tilting movement of the seat back and are activated by positioning switching elements to move the motor vehicle seat into predetermined set positions. A switching device corresponding with the seat back blocks the associated adjustment device before the seat back runs into an obstacle lying in its range of adjustment. In order to optimize the motion sequences when a rearward tilting movement of the seat back is initiated by one positioning switching element, shortly before the seat back runs into the obstacle, the adjustment device is blocked from further tilting movement of the seat back and a longitudinal movement of the seat forward is automatically initiated by the switching device.

Abstract: A signal which is dependent solely on the disturbance variable is selected by means of a filter and fed to a disturbance detector. This disturbance detector simulates the steady and alternating component (sine component) of the selected signal, as well as a signal (cosine component) phase-leading by 90.degree. with the latter signal. The correction signal required to exactly compensate for the disturbance variable is determined from the sine and cosine component of the periodic disturbance signal component by means of frequency-controlled function generators and a complex phasor calculation.

Abstract: An improved heliostat device for an electrooptical system in which a mirror is gimbaled in two axes for line-of-sight direction and stabilization. A half angle drive system is connected to the mirror for controlling azimuth rotation of the mirror relative to the stable body from which the mirror is mounted. The half angle drive system comprises a N-2N-speed synchro transmitter-receiver pair, with the N-speed synchro control transmitter mounted on the stable body axis, and the 2N-speed control receiver mounted on the mirror axis. This synchro transmitter-receiver pair is operable with a null error signal controlling mirror drive such that the angular rotation of the mirror is one-half that of the angular rotation of the stable body.

Abstract: A dynamic vibration absorber for reducing vibrations of a platform induced by an oscillating mass mounted thereon is provided by mounting a mass of equal mechanical resonant frequency as that of the oscillating mass and oscillating this mass in a manner to establish an equal and opposite vibration of the platform, thereby cancelling the vibrations induced by the oscillating mass. In one embodiment, a signal from the oscillating mass representative of the frequency and amplitude of its mechanical oscillation is phase shifted and utilized as a driving signal to the drive motor of the absorber mass. In another embodiment, electrical signals representative of the platform vibrations are detected to provide phase and amplitude vibration error signals. These error signals are applied to a reference signal coupled to the drive motor of the canceller mass causing the oscillations of the canceller mass to induce vibrations in the platform which counter the vibrations induced by the oscillating mass.

Abstract: A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions.

Abstract: An ultrasonic tracking system comprising a transmitting unit and a drive unit. The transmitting unit is carried by the subject to be tracked and produces brief, periodic ultrasonic bursts. The drive unit has an ultrasonic receiver and a motorized assembly capable of tilting and panning an attached camera in response to control signals from the receiver. This receiver employs three ultrasonic microphones located at three of the four corners of an imaginary square centered on and perpendicular to the axis of the camera lens. The receiver measures the relative arrival times of signals received by the microphones, determines the direction and degree to which the camera is not pointed directly at the subject, and supplies control signals to the motorized assembly, to drive motors to re-orient the camera (and receiver) to point toward the subject.

Abstract: A control system for a storage and retrieval machine is disclosed in which a supervisory control is responsive to operating commands from a remote source to provide operating instructions for the control of the base, carriage and shuttle of the storage and retrieval machine. Control for the base contains base operating parameters and is responsive to base operating instructions from the supervisory control to control movement of the base in accord with the base operating instructions and the base parameters. Control for the carriage, which is movably mounted on a vertical mast of the storage and retrieval machine, contains carriage operating parameters and is responsive to the operating instructions to control movement of the carriage in accord with carriage operating instructions and the carriage operating parameters.

Abstract: A separate adaptive noise canceller receiving a reference input of a rotor speed synchronization pulse is connected in the X and Y axis positional control loops of a magnetic bearing utilized to position a rotor suspended thereby. The output of the noise canceller is self-adjusting by the inclusion of an adaptive filter implementing a least mean square algorithm to force the gain of the control loop to zero at not only the fundamental of the rotational speed, but all harmonic frequencies thereof, thereby reducing the vibration and control system power dissipation of the magnetic bearing at the rotational fundamental as well as at the rotational harmonics.

Abstract: A flight motion simulator includes a unit under test supported on a stationary frame for angular and translational movement along pitch, roll, and yaw axes. A rotor element is secured to the unit under test and has a spherical configuration. Magnetic bearings supported by the stationary frame support the rotor element in three degrees of freedom of movement. A drag-cup induction motor is mounted on the frame and connected to the unit under test to generate three degrees of freedom of movement by generating a rotating magnetic flux in a stator assembly to induce a corresponding flow of currents in the rotor element to produce torque and motion in the unit under test in the same direction as the flux movement in the stator assembly.

Abstract: A stairway wheelchair lift includes a stationary motor drive unit, a mobile platform movable along a stairway and a user interface for receiving user-generated input commands. The mobile platform communicates with the motor drive unit through a continuously maintained broadbeam infrared communications link, while the motor drive unit communicates with the mobile platform through an intermittently established short range infrared link. The user interface communicates with the motor drive through a hard wired four conductor communicates link. The use of infrared communications links, together with the four conductor hard wired link, reduces overall system wiring, enhances ease of installation and improves overall system flexibility and economy. Microprocessor based micro-controllers, within the motor drive unit, the mobile platform and the user interface, permit system operation to be tailored in accordance with the operating constraints and requirements imposed by a particular stairway configuration.

Abstract: A system for generating substantially constant area pulses suitable for application to an inertial instrument torquer. The torquer current pulses are directly utilized to provide an averaging feedback loop wherein the variations in pulse width due to errors in switching pulse times are offset by amplitude control for the pulses. With this system, variations in width of the torquer current pulses are offset in a high speed, closed loop manner with compensation occurring within the pulse interval.

Abstract: A man to machine interface for the control of video or motion picture camera movement for use with a camera aiming system which can reproduce a specific camera movement any number of times. The interface moves the camera in the pan or tilt axis giving an operator a natural control feel while actually driving the camera movement with a motor drive. A shaft encoder detects the velocity of the motor drive and stores such information over time in a memory. The data stored in the memory may be read out at a later time and used by the motor drive to replicate the movement of the camera.

Abstract: An electric system for controlling a depth aerodynamic surface (1) of an aircraft. The system includes an attitude sensor (3) and an incidence sensor (6). A calculation means (7) in communication with the sensor controls a motor (4) so as the depth aerodynamic surface of the aircraft reaches an incidence according to a programmed depth control law. The system utilizes an incidence protection device (35) able to control the incidence of the aircraft within a range of values limited upwards by a limit value, beyond which the aircraft could become unstable.