公开(公告)号：US20070164167A1

公开(公告)日：2007-07-19

申请号：US11332078

申请日：2006-01-13

申请人： Edward Bachelder ,  Dong-Chan Lee ,  Bimal Aponso

发明人： Edward Bachelder ,  Dong-Chan Lee ,  Bimal Aponso

IPC分类号： B64C13/04

CPC分类号： G05D1/105

摘要： The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.

摘要翻译： 本发明提供计算机实现的方法，其允许在发动机故障之后安全着陆和恢复旋翼飞机。 利用本发明，可以在直升机的高度 - 速度分布的不安全操作区域内通过采用快速且鲁棒的实时轨迹优化算法，通过直观的飞行员显示命令来控制运动，或直接在直升机 自主旋翼航空器案例 该算法通过直接配置优化方法生成最优轨迹和控制命令，使用非线性规划问题求解器求解。 计算出的控制输入是集体俯仰和飞行器俯仰，它们可以由飞行员轻松跟踪和操纵，或者在自主旋翼航空器的情况下转换为自动运行的控制执行器命令。 精心设计的最优控制问题已经得到了精心的定制，因此解决方案与专家级飞行员的解决方案相类似，涉及旋翼航空器的性能限制和安全性问题。

公开(公告)号：US20070035561A1

公开(公告)日：2007-02-15

申请号：US11104379

申请日：2005-04-11

申请人： Edward Bachelder ,  Noah Brickman

发明人： Edward Bachelder ,  Noah Brickman

IPC分类号： G09G5/00

CPC分类号： G06T19/003

摘要： The present invention relates to a method and an apparatus for combining virtual reality and real-time environment. The present invention provides a system that combines captured real-time video data and real-time 3D environment rendering to create a fused (combined) environment. The system captures video imagery and processes it to determine which areas should be made transparent (or have other color modifications made), based on sensed cultural features and/or sensor line-of-sight. Sensed features can include electromagnetic radiation characteristics (i.e. color, infra-red, ultra-violet light). Cultural features can include patterns of these characteristics (i.e. object recognition using edge detection). This processed image is then overlaid on a 3D environment to combine the two data sources into a single scene. This creates an effect where a user can look through ‘windows’ in the video image into a 3D simulated world, and/or see other enhanced or reprocessed features of the captured image.

摘要翻译： 本发明涉及一种用于组合虚拟现实和实时环境的方法和装置。 本发明提供一种将捕获的实时视频数据和实时3D环境渲染相结合的系统，以创建融合（组合）环境。 系统捕获视频图像并对其进行处理，以根据感测的文化特征和/或传感器视距来确定应将哪些区域做成透明的（或进行其他颜色修改）。 感测特征可以包括电磁辐射特性（即，颜色，红外，紫外光）。 文化特征可以包括这些特征的图案（即，使用边缘检测的对象识别）。 然后将该处理的图像叠加在3D环境上以将两个数据源组合成单个场景。 这产生了一种效果，其中用户可以将视频图像中的“窗口”视为3D模拟世界，和/或查看捕获图像的其他增强或再处理的特征。