公开(公告)号：US20060262646A1

公开(公告)日：2006-11-23

申请号：US11135931

申请日：2005-05-23

申请人： Dan Horak ,  Richard Burne

发明人： Dan Horak ,  Richard Burne

IPC分类号： G01S3/80

CPC分类号： B64C39/024 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/162 ,  B64C2201/165 ,  F42B12/365 ,  G01S3/8083

摘要： Embodiments for determining the bearings to targets from a remote location are disclosed. The apparatus consists of an array of acoustic sensors that is capable of autonomous flight. The array may be large in diameter, approximately one meter or greater. The apparatus is capable of navigating its flight to arrive at a predetermined location, measuring acoustic sound waves emitted by targets both during flight and after landing. The apparatus may then calculate the bearings to the targets and transmit this information to a remote location.

公开(公告)号：US4547858A

公开(公告)日：1985-10-15

申请号：US503921

申请日：1983-06-13

申请人： Dan Horak

发明人： Dan Horak

IPC分类号： G05D3/12 ,  B25J9/16 ,  B25J9/18 ,  G05B19/19 ,  G06F15/46 ,  G05B19/42

CPC分类号： B25J9/1648 ,  G05B19/19 ,  G05B2219/33076 ,  G05B2219/33253 ,  G05B2219/39178 ,  G05B2219/41133

摘要： A dynamic control for a multi-link manipulator having a central processing unit, a linear dynamics control loop and a fast nonlinear dynamics control loop. The linear dynamics control loop has servo amplifiers and associated power amplifiers for actuating the links in response to the signals generated by the central processing unit and sensors generating the requisite feedback signals. The nonlinear dynamics control loop comprises a nonlinear dynamics control computer generating correction signals corresponding to the nonlinear dynamics of the manipulator links in response to the signals generated by the central processing unit and feedback signal and means for summing the correction signals with the signals generated by the servo amplifiers. The nonlinear dynamics control computer generates the correction signals for the first 3 links of the manipulator using Lagrangian dynamics and generates the correction signals for the remaining links using recursive Newton-Euler dynamics.

摘要翻译： 具有中央处理单元，线性动力学控制回路和快速非线性动力学控制回路的多连杆机械手的动态控制。 线性动力学控制回路具有伺服放大器和相关联的功率放大器，用于响应于由中央处理单元产生的信号和产生必需反馈信号的传感器来致动链路。 非线性动力学控制回路包括非线性动力学控制计算机，其响应于由中央处理单元产生的信号和反馈信号产生对应于机械手链路的非线性动力学的校正信号，以及用于将校正信号与由 伺服放大器。 非线性动力学控制计算机使用拉格朗日动力学生成操纵器的前3个链路的校正信号，并使用递归牛顿 - 欧拉动力学生成剩余链路的校正信号。

公开(公告)号：US20070228214A1

公开(公告)日：2007-10-04

申请号：US11235057

申请日：2005-09-26

申请人： Dan Horak

发明人： Dan Horak

IPC分类号： B64F1/04

CPC分类号： B64C39/028 ,  A63H27/14 ,  B64C2201/044 ,  B64C2201/084 ,  B64C2201/088 ,  B64C2201/127 ,  B64C2201/146 ,  B64C2201/162 ,  B64C2201/182 ,  B64F1/04

摘要： Autonomous micro air vehicles surveillance systems are provided. A MAV system of one embodiment includes an MAV and a launch pad. The MAV has an engine that is adapted to power the MAV. The launch pad has a starter that is adapted to start the engine in the MAV when the MAV is resting on a launching surface of the launch pad. The launch pad further has a battery to power the starter.

摘要翻译： 提供自动微型飞行器车辆监视系统。 一个实施例的MAV系统包括MAV和发射台。 MAV具有适用于为MAV供电的发动机。 发射台具有一个启动器，当MAV在发射台的发射表面上时，该启动器适于在MAV中启动发动机。 发射台还有一个电池为起动器供电。

公开(公告)号：US20060227664A1

公开(公告)日：2006-10-12

申请号：US11102219

申请日：2005-04-08

申请人： Dan Horak

发明人： Dan Horak

IPC分类号： H04B1/06

CPC分类号： G01S5/20 ,  G01C21/00

摘要： System and method for determining a location of a first target. The sensor network comprises a first sensor cluster comprising a first plurality of bearing measuring sensors. A first gateway is operatively coupled to the first plurality of bearing measuring sensors. A second sensor cluster comprises a second plurality of bearing measuring sensors. A second gateway is operatively coupled to the second plurality of bearing measuring sensors. A central command node is operatively coupled to the first and the second gateways. A first limited set of pre-computed numbers representative of information for generating a global target location estimation is transmitted from the first gateway to the central command node. A second limited set of pre-computed numbers representative of information for generating the global target location estimation is transmitted from the second gateway to the central command node. A global target location estimate of the first target is computed by the central command node based on the first and second limited set of pre-computed numbers.

摘要翻译： 用于确定第一目标的位置的系统和方法。 传感器网络包括包括第一多个轴承测量传感器的第一传感器组。 第一网关可操作地耦合到第一多个轴承测量传感器。 第二传感器组包括第二多个轴承测量传感器。 第二网关可操作地联接到第二多个轴承测量传感器。 中央命令节点可操作地耦合到第一和第二网关。 代表用于生成全局目标位置估计的信息的第一有限的一组预先计算的数字从第一网关发送到中央命令节点。 代表用于生成全局目标位置估计的信息的第二有限的一组预先计算的数字从第二网关发送到中央命令节点。 第一目标的全局目标位置估计由中央命令节点基于第一和第二有限的预先计算的数量集计算。