Abstract: The present disclosure relates to technology that controls a remote moving body based on collaboration between the moving body and human, and a method for controlling a moving body includes acquiring a first biosignal indicating an intention to start operation of the moving body from a user, operating the moving body, determining a surrounding situation of the moving body that autonomously controls the driving, providing the user with surrounding information of the moving body for inducing path setting, acquiring a second biosignal evoked by recognition of the surrounding information from the user, setting a driving direction of the moving body, commanding the moving body to automatically perform a driving operation to be carried out in the set driving direction, and acquiring a third biosignal responsive to recognition of a driving error from the user and correcting the driving direction of the moving body to induce driving path resetting.

Abstract: The present disclosure relates generally to control systems, and in particular apparatus, methods, and systems for controlling flights remotely or onboard the vehicle. More specifically, the present disclosure describes embodiments of a control system that allows a user to control the motion of a control target in or along one or more degrees of freedom using a single controller.

Abstract: A method for direction finding of at least one stationary and/or moving transmitter comprises the following steps: measuring the signals emitted by each of the at least one transmitter at at least two different measurement points; determining the location of the measurements points at the time of the measurement; determining the bearings from the measurement points to each of the at least one transmitter; transferring the bearings to a pre-trained artificial neural network; and estimating the locations of the at least one transmitter by the artificial neural network. Further, a system for direction finding of at least one stationary and/or moving transmitter is shown.

Abstract: A method of providing intersection assistance with a portable electronic device to remind a user of traffic rules when the user approaches traffic intersections includes receiving an input from the user indicating a destination location for generating navigation instructions to the destination location, determining a current location of the portable electronic device according to received position signals, providing navigation instructions to the destination location according to the current location of the portable electronic device, and reminding the user of traffic rules related to intersections for a geographical location in which the portable electronic device is currently located when the portable electronic device detects that the portable electronic device is approaching an intersection, where reminding the user of traffic rules related to intersections comprises indicating a side of a second road the user should turn onto when making a turn from a first road onto the second road.

Abstract: A method for simplifying a description of a travel route represented by a list of route points includes: reading in a travel route which is mapped by a list of route points represented by a plurality of route points, each route point representing a different subsegment of a travel route on a digital road map; altering the list of route points according to a predetermined algorithm, in order to obtain an altered list of route points that represents the travel route; and storing the altered list of route points in order to simplify the description of the travel route.

Abstract: There is provided an arousal state classification model generating device for generating a blink waveform pattern model and an arousal state pattern model based on data on a blink waveform, which are preferably used for accurately estimating an arousal level with respect to unspecified object persons, an arousal state classifying device for classifying the arousal state of an object person, and a warning device. In the arousal state classification model generating device, a first pattern model is generated by learning a statistical model by using as learning data first feature data extracted from the blink data of at least one of the eyes of each object person at the time of blinking and blink waveform identification information.

Abstract: To improve the scheduling and tasking of resources, the present disclosure describes an improved planning system and method for the allocation and management of resources. The planning system uses a branch and bound approach of tasking resources using a heuristic to expedite arrival at a deterministic solution. For each possible functional mode of the resources, an upper bound is determined. The upper bounds are employed in an objective function for the branch and bound process to determine the functional mode in which to place the resources and to determine movement paths for the resources, all in an environment where a hostile force may attempt to destroy the resources.

Abstract: The method for generating an integrated guidance law for aerodynamic missiles uses a strength Pareto evolutionary algorithm (SPEA)-based approach for generating an integrated fuzzy guidance law, which includes three separate fuzzy controllers. Each of these fuzzy controllers is activated in a unique region of missile interception. The distribution of membership functions and the associated rules are obtained by solving a nonlinear constrained multi-objective optimization problem in which final time, energy consumption, and miss distance are treated as competing objectives. A Tabu search is utilized to build a library of initial feasible solutions for the multi-objective optimization algorithm. Additionally, a hierarchical clustering technique is utilized to provide the decision maker with a representative and manageable Pareto-optimal set without destroying the characteristics of the trade-off front. A fuzzy-based system is employed to extract the best compromise solution over the trade-off curve.

Abstract: The fuzzy logic-based control method for helicopters carrying suspended loads utilizes a controller based on fuzzy logic membership distributions of sets of load swing angles. The anti-swing controller is fuzzy-based and has controller outputs that include additional displacements added to the helicopter trajectory in the longitudinal and lateral directions. This simple implementation requires only a small modification to the software of the helicopter position controller. The membership functions govern control parameters that are optimized using a particle swarm algorithm. The rules of the anti-swing controller are derived to mimic the performance of a time-delayed feedback controller. A tracking controller stabilizes the helicopter and tracks the trajectory generated by the anti-swing controller.

Abstract: An ECU serving as a transmission side and an ECU serving as a reception side are coupled to each other through communication lines and junction connectors. A diode in which a direction directed from a negative-side output terminal of the ECU serving as the transmission side to a positive-side output terminal thereof becomes a forward direction is provided between the positive-side output terminal and the negative-side output terminal.

Abstract: A vehicle dynamics prediction system for providing prediction of vehicle velocity for a predetermined future time period. The predictions utilize future vehicle control setting anticipated for the time period. An artificial intelligence database coupled to a processor that utilizes weighted values for neural network models representing dynamic performance of the vehicle forms part of the vehicle dynamics prediction system.

Abstract: A system and method is provided for monitoring the operating condition of a pump by evaluating fault data encoded in the instantaneous current of the motor driving the pump. The data is converted to a frequency spectrum which is analyzed to create a fault signature having fault attributes relating to various fault conditions associated with the pump. The fault signature is then input to a neural network that operates in conjunction with a preprocessing and post processing module to perform decisions and output those decisions to a user interface. A stand alone module is also provided that includes an adaptive preprocessing module, a one-shot unsupervised neural network and a fuzzy based expert system to provide a decision making module that operates with limited human supervision.

Abstract: A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.

Abstract: A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.

Abstract: A system and a method for diagnosis of engine conditions are proposed. In particular, the system and the method are directed to an extraction of features from different information sources and to their processing. These features, together with a series connection of two neural networks, form the crux of the system and method, so that a dependable diagnosis of engine conditions, particularly an error recognition is possible. As a result thereof, maintenance corresponding to the current engine condition is enabled.

Abstract: System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detect

Abstract: An autonomous vehicle, such as a robotic cleaning device, includes wheels which support the vehicle and allow the vehicle to traverse a surface. Downward looking wheel sensors sense the presence of a surface in front of the wheels. Another sensor is provided at or near a leading edge of the vehicle for sensing the presence beneath the leading edge of the vehicle. The vehicle is arranged so that movement of the vehicle is possible if the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, provided that the wheel sensors indicate that there is a surface adjacent to the wheel. When the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, the vehicle performs an edge following routine.

Abstract: A plurality of events representative of a situation in which the host vehicle is operated are selected, including at least one set of related events. Input data is provided to an inference engine from either a first set of data representative of a target in a field of view of the host vehicle, a second set of data representative of the position or motion of the host vehicle, or a third set of data is representative of an environment of said host vehicle. The inference engine operates in accordance with an inference method to generate an output representative of a probability of occurrence of at least one event of the set of events, responsive to the input data, and possibly to one or more outputs at a past time. A countermeasure may be invoked responsive to one or more outputs from one or more inference engines.

Abstract: A fuzzy steering controller for wheel-type agricultural vehicles with an electrohydraulic steering system is disclosed. The fuzzy controller was developed based on a common-sense model of agricultural vehicle steering. The controller implements steering corrections based upon the desired steering rate and the error between the desired and the actual wheel angles. The controller consists of a variable fuzzifier, an inference engine with a steering control rulebase, and a control signal defuzzifier. The controller could be used on different platforms. Tuning of the fuzzy membership functions will accommodate for physical differences between the platforms. The controller achieves prompt and accurate steering control performance on both a hardware-in-the-loop electrohydraulic steering simulator and on an agricultural tractor.

Abstract: A method of determining the visibility of a target in a background uses search time as the output. A set of images of the target in the background is made, and selected input variables in each image are measured. The input variables relate to target size, target juxtaposition relative to the viewer's location, luminance of the target and luminance of the background scene. One version of our method additionally uses wavelet edge points as an input variable. Each input variable, as well as the output variable, has several applicable membership functions by which membership values are assigned to the variables. Choosing membership functions for variables is done by fuzzy rules. Applying the fuzzy rules and membership functions produces multiple values for the output variable. These values are defuzzified to obtain a crisp end result. This result can disqualify proposed target designs or to help select among several good designs of the target.

Abstract: A method is disclosed for computer-based control of the timing and level of gear shifts in a multi-speed automatic transmission operated in combination with an internal combustion engine and interposed fluid torque converter. The computer containing power control module signals gear shifts in response to its repeated cyclic processing of engine and transmission operation parameters including torque converter slippage. Here, such slippage is estimated using a neural network with suitable such parameters as input data. In preferred modes of operation, different neural networks are available for selection and use by the computer in different modes of engine-transmission operation.

Abstract: We describe an efficient algorithm for evaluating the (weighted bipartite graph of) associations between two sets of data with gaussian error, e.g., between a set of measured state vectors and a set of estimated state vectors. First a general method is developed for determining, from the covariance matrix, minimal d-dimensional error ellipsoids for the state vectors which always overlap when a gating criterion is satisfied. Circumscribing boxes, or d-ranges, for the data ellipsoids are then found and whenever they overlap the association probability is computed. For efficiently determining the intersections of the d-ranges a multidimensional search tree method is used to reduce the overall scaling of the evaluation of associations. Very few associations that lie outside the predetermined error threshold or gate are evaluated. Empirical testing for variously distributed data in both three and eight dimensions indicate that the scaling is significantly reduced from N2, where N is the size of the data set.

Abstract: A method of and apparatus for providing self-learning correction to the error in positioning movement of a platform in a vehicular wheelchair lift or any moving member of machinery or an equipment. The method includes the steps of programming the platform or moving member to stop at a target position, calculating an error between the programmed target position and an actual stop position of the platform or moving member, and deriving a new target position to stop the platform or moving member based on the calculated error to compensate the overshoot or shortcoming of the actual stop position of the platform or moving member. The apparatus implementing this method may include a programmable control mechanism such as a microprocessor having means for performing the programmed sequential operations.

Abstract: A method of controlling the drive of computer-controlled transporting devices (2), in particular crane facilities with lifting winches and at least one mast supported on a moving frame on which are mounted shelf operator devices provided with load-carrying means and a lifting platform, and including a current control circuit (7), a drive control circuit with a speed control circuit (6), and a position control circuit (5), extend the possibilities of intervention when an instantaneous dynamic behavior of a transporting device (2) is calculated from an available data tree of a state and disruption monitor-regulator module (8) by using available measurement and setting values-containing information on a device dynamic and based on coefficient-characteristic fields, wherein the coefficient-characteristic fields incorporate structural details and/or dynamic characteristics of the transporting device and are determined by a regulator module (9) which performs an automatic self-teaching coefficient identification, p

Abstract: A method for tutoring a trainee in a simulator comprises the steps of defining an expert system simulating an activity, and using the expert system to provide instructional feedback to the trainee. The step of defining an expert system comprises constructing a decision support system so as to define a human factors engineering module, programming a plurality of training scenarios, and establishing automated performance measures. The method for tutoring of the present invention eliminates the need to have an expert trainer available and the consequent expense associated therewith.

Abstract: A process and system for determining the flight configurations of an aircraft are disclosed. The process includes the steps of defining various possible flight configurations of the aircraft, determining a plurality of flight phases representative of the flight configurations, determining a plurality of characteristic parameters capable of being measured on the aircraft, measuring values of the characteristic parameters for each of the flight phases of the aircraft, calculating a fuzziness index for each of the flight configurations from the measured values of the characteristic parameters for the flight phases, the fuzziness index being representative of the flight configuration in a specified metric system, and defining an actual flight phase of the aircraft.

Abstract: A tail chase guidance system for directing a steerable object, such as a pedo, to a contact along a final approach course. The guidance system senses a bearing from the steerable object to the contact and the course of the steerable object. If the contact is moving, the system determines a contact course as a final approach course; if stationary, a value is provided for the final approach course. Various signals are then generated based upon these bearings and courses and classified into sensed linguistic variables based on membership functions from the different sensed variable membership function sets to become fuzzy inputs to a controller that produces fuzzy control output linguistic variables and associated membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs.

Abstract: Apparatus for estimating a drive mode of a motor vehicle desired by an operator of the motor vehicle, including a variable calculating device and a drive mode estimating device, wherein the variable calculating device calculates at least one of drive mode indicating variables such as a drive force of the vehicle desired by the operator upon starting of the vehicle, a maximum rate of increase of the drive force, a maximum deceleration of the vehicle upon operation of a manually operated member for brake application to the vehicle, a coasting run time of the vehicle and a steady run time of the vehicle, and wherein the drive mode estimating device includes a neural network which receives the drive mode indicating variable or variables calculated by the variable calculating device, so that the drive mode estimating device estimates the drive mode of the motor vehicle desired by the operator on the basis of an output of the neural network.

Abstract: An automatic transmission control system for an automobile, comprising a vehicle weight estimation unit which estimates a vehicle weight of the automobile a torque estimation unit which estimates an output torque, an acceleration input unit which accepts an acceleration signal; a load estimation unit (110) which estimates a running load from the estimated vehicle weight, the estimated output torque and the accepted acceleration; a memory which stores a plurality of shift schedules therein; and a gear position determination unit (109) which includes the memory, and which selects one of the shift schedules in accordance with the vehicle weight and the estimated running load, so as to determine a gear position of an automatic transmission of the automobile in conformity with the selected shift schedule. An exact shift operation conformed to the vehicle weight and the running load can be performed, and an enhanced fuel consumption can be attained.

Abstract: An automatic transmission control system for an automobile, comprising a vehicle weight estimation unit which estimates a vehicle weight of the automobile a torque estimation unit which estimates an output torque, an acceleration input unit which accepts an acceleration signal; a load estimation unit (110) which estimates a running load from the estimated vehicle weight, the estimated output torque and the accepted acceleration; a memory which stores a plurality of shift schedules therein; and a gear position determination unit (109) which includes the memory, and which selects one of the shift schedules in accordance with the vehicle weight and the estimated running load, so as to determine a gear position of an automatic transmission of the automobile in conformity with the selected shift schedule. An exact shift operation conformed to the vehicle weight and the running load can be performed, and an enhanced fuel consumption can be attained.