公开(公告)号：US20060058931A1

公开(公告)日：2006-03-16

申请号：US10941535

申请日：2004-09-15

申请人： Kartik Ariyur ,  Dale Enns ,  Peter Lommel

发明人： Kartik Ariyur ,  Dale Enns ,  Peter Lommel

IPC分类号： G05D1/00

CPC分类号： G05D1/0257 ,  G05D1/0223 ,  G05D1/0274 ,  G05D1/0278 ,  G08G5/0052 ,  G08G5/0078 ,  G08G5/045

摘要： Collision avoidance systems and methods are implemented on unmanned mobile vehicles to supplement map-based trajectories generated by the vehicles' navigation systems. These systems include radar, which detect obstacles in the path of the unmanned mobile vehicles, and collision avoidance modules, which enable the vehicles to avoid unexpected obstacles by adjusting their trajectories and velocities based on feedback received from the radar. In general, when an obstacle is detected by the radar, the collision avoidance module modifies the commanded velocity of an unmanned mobile vehicle by subtracting from the nominal commanded velocity the component that is in the direction of the obstacle. The magnitude of the velocity modification typically increases as the distance between the mobile vehicle and the obstacle decreases.

摘要翻译： 碰撞避免系统和方法在无人驾驶车辆上实施，以补充车辆导航系统产生的基于地图的轨迹。 这些系统包括雷达，其检测无人驾驶车辆的路径中的障碍物，以及防撞模块，其使得车辆能够基于从雷达接收的反馈来调整其轨迹和速度来避免意外的障碍物。 通常，当雷达检测到障碍物时，防撞模块通过从标称命令速度减去在障碍物方向上的分量来修改无人驾驶车辆的指令速度。 速度改变的大小通常随着移动车辆与障碍物之间的距离的减小而增加。

公开(公告)号：US20070250260A1

公开(公告)日：2007-10-25

申请号：US11380141

申请日：2006-04-25

申请人： Kartik Ariyur ,  Kingsley Fregene

发明人： Kartik Ariyur ,  Kingsley Fregene

IPC分类号： G01C21/00

CPC分类号： G01S3/7864 ,  G01S13/723 ,  G05D1/0094

摘要： A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an ummanned aerial vehicle model, with velocity and acceleration constraints. These real-world constraints ensure that the method is applicable to a general class of unmanned aerial vehicles and ground targets. One or more sensors are employed on the unmanned aerial vehicle, with the sensors having at least one field-of-view sensing cone over the ground. A position and path of the mobile target are monitored through input from the sensors on the unmanned aerial vehicle. The method and system detect and estimate the position and path of the mobile target when the target is inside the field-of-view sensing cone.

摘要翻译： 提供了一种用于通过无人驾驶飞行器自动跟踪诸如地面车辆的移动目标的方法和系统。 该方法和系统利用通过使用具有速度和加速度约束的具有无人驾驶飞行器模型的地面车辆模型跟踪移动地面目标的方法。 这些现实世界的限制确保了该方法适用于一般无人机和地面目标。 在无人驾驶飞行器上采用一个或多个传感器，传感器在地面上具有至少一个视场感测锥。 通过来自无人驾驶飞行器上的传感器的输入来监测移动目标的位置和路径。 该方法和系统检测并估计当目标在视野内感测锥体内时移动目标的位置和路径。

公开(公告)号：US20050165520A1

公开(公告)日：2005-07-28

申请号：US11063296

申请日：2005-02-22

申请人： Kartik Ariyur

发明人： Kartik Ariyur

IPC分类号： G05B23/02 ,  G06F7/00

CPC分类号： G05B23/0232

摘要： A trending system and method for trending data in a physical or clock system. The trending system includes a sliding window filter. The sliding window filter receives a data set of data points generated by the clock system. The sliding window filter partitions the data set into a plurality of data windows, and uses the data windows to calculate upper and lower confidence bounds for the data set. Specifically, the sliding window filter calculates upper confidence bounds and lower confidence bounds for each data point using each of the multiple data windows that includes the data point. The sliding window filter then selects the upper confidence bounds and the lower confidence bounds that result in the smallest mean prediction confidence interval for that data point. This results in a smoothed estimated trend for the data set that can be used for prognostication and fault detection.

摘要翻译： 用于在物理或时钟系统中趋势化数据的趋势系统和方法。 趋势系统包括滑动窗口过滤器。 滑动窗口过滤器接收由时钟系统生成的数据点的数据集。 滑动窗口过滤器将数据集划分成多个数据窗口，并使用数据窗口来计算数据集的上限和下限置信区间。 具体来说，滑动窗口过滤器使用包括数据点的多个数据窗口中的每一个来计算每个数据点的高置信界限和较低置信界限。 然后，滑动窗口过滤器选择导致该数据点的最小平均预测置信区间的较高置信界限和较低置信界限。 这导致可用于预测和故障检测的数据集的平滑估计趋势。

公开(公告)号：US20070249503A1

公开(公告)日：2007-10-25

申请号：US11409849

申请日：2006-04-24

申请人： Kartik Ariyur ,  Anoop Mathur

发明人： Kartik Ariyur ,  Anoop Mathur

IPC分类号： H01L39/00 ,  G08B1/08

CPC分类号： H04B1/036 ,  H04W88/02

摘要： A node in a wireless sensor network has a receiver that is at least partially implemented in high temperature superconductor circuitry. In one embodiment, band pass filters of the receiver are implemented in high temperature superconducting circuitry. In one embodiment, a cryo-cooler is coupled to a passage for providing coolant to the receiver such that the receiver is cooled at or below the superconducting temperature of its circuit elements.

摘要翻译： 无线传感器网络中的节点具有至少部分地在高温超导体电路中实现的接收器。 在一个实施例中，接收机的带通滤波器在高温超导电路中实现。 在一个实施例中，低温冷却器联接到通道以将冷却剂提供给接收器，使得接收器在其电路元件的超导温度下被冷却或低于其电路元件的超导温度。

公开(公告)号：US20070233338A1

公开(公告)日：2007-10-04

申请号：US11393086

申请日：2006-03-30

申请人： Kartik Ariyur ,  Daniel Johnson ,  Dharmashankar Subramanian

发明人： Kartik Ariyur ,  Daniel Johnson ,  Dharmashankar Subramanian

IPC分类号： G01C22/00

CPC分类号： G05D1/0274 ,  G05D1/0289

摘要： A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs. Determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs and using the traverse time parameters in planning and scheduling the vehicles.

摘要翻译： 一种在障碍物场上实现多个无人驾驶车辆的方法。 该方法包括获得障碍物场的物理图。 将物理图离散到可跨边缘，以避免障碍物，可移动边缘在节点处会聚。 用可移动弧替换超越无人驾驶车辆的机动性的可移动边缘的部分。 确定与通过障碍物场的路径相关联的运行时间参数，由选择的可移动边缘组成的每个路径，并选择横向弧线，并在规划和调度车辆中使用横越时间参数。

公开(公告)号：US20070105581A1

公开(公告)日：2007-05-10

申请号：US11269383

申请日：2005-11-08

申请人： Kartik Ariyur

发明人： Kartik Ariyur

IPC分类号： H04Q7/20

CPC分类号： H04W52/343

摘要： A method to control power transmitted from a node in a wireless network. The method includes receiving one or more signals at the node from one or more other nodes of the wireless network, determining a signal-to-interference-plus noise ratio for each signal received from each of the one or more other nodes, transmitting the determined signal-to-interference-plus noise ratio value for each signal received from the one or more other nodes to the respective one or more other nodes, and receiving a signal-to-interference-plus noise ratio value from each of the other nodes in the wireless network. The received signal-to-interference-plus noise ratio value was determined by each of the other nodes. The method further includes determining a minimum signal-to-interference-plus noise ratio for the node, estimating a rate-of-change of the channel gain, and adjusting signals transmitted from the node to the other nodes.

摘要翻译： 一种用于控制从无线网络中的节点发送的功率的方法。 该方法包括从无线网络的一个或多个其他节点在该节点处接收一个或多个信号，为从所述一个或多个其他节点中的每一个接收到的每个信号确定信号与干扰加噪声比，发送所确定的 从一个或多个其他节点接收到相应的一个或多个其他节点的每个信号的信号与干扰加噪声比值，以及从每个其他节点的每个信号到干扰加噪声比值接收 无线网络。 接收到的信号与干扰加噪声比值由每个其他节点确定。 该方法还包括确定节点的最小信号与干扰加噪声比，估计信道增益的变化率，以及调整从节点发送到其他节点的信号。

公开(公告)号：US20060211413A1

公开(公告)日：2006-09-21

申请号：US11059024

申请日：2005-02-14

申请人： Kartik Ariyur ,  Sabera Kazi ,  Chandrika Bommalingaiahnapallya

发明人： Kartik Ariyur ,  Sabera Kazi ,  Chandrika Bommalingaiahnapallya

IPC分类号： H04Q7/20

CPC分类号： H04W16/18 ,  H04W84/18

摘要： Wireless data links between mobile vehicles are optimized by positioning the mobile vehicles in default locations, creating a wireless data link between the vehicles, and measuring the initial capacity of the wireless data link. An extremum-seeking algorithm is then performed, in which the mobile vehicles are moved locally around their default locations, and the resulting changes in capacity of the wireless data link are measured. The algorithm mathematically determines, based on the measured changes in capacity of the wireless data link, optimum locations at which, when the mobile vehicles are positioned there, the capacity of the wireless data link reaches a local maximum value. The mobile vehicles are then moved to the optimum locations.

摘要翻译： 通过将移动车辆定位在默认位置，在车辆之间建立无线数据链路以及测量无线数据链路的初始容量来优化移动车辆之间的无线数据链路。 然后执行极值寻求算法，其中移动车辆在其默认位置周围移动，并且测量所得到的无线数据链路容量的变化。 该算法基于测量的无线数据链路容量的变化来数学地确定最佳位置，当移动车辆位于那里时，无线数据链路的容量达到局部最大值。 然后将移动车辆移动到最佳位置。

公开(公告)号：US20050197811A1

公开(公告)日：2005-09-08

申请号：US10768067

申请日：2004-02-02

申请人： Kartik Ariyur

发明人： Kartik Ariyur

IPC分类号： G06G7/48

CPC分类号： G06F17/5009 ,  G06F2217/16

摘要： Embodiments of the present invention relate to methods for calculating the aerodynamic forces and moments on fixed wing aircraft experiencing dynamic ground effects in subsonic flight. An airfoil and its trailing vortices are modeled as a lifting line with trailing vortex sheets and an image lifting line with trailing vortex sheets. The lifting line is located at a certain height above the ground and its image is located at an equal height below the ground, in order to satisfy a boundary condition of zero normal velocity at the ground. A downwash velocity at the airfoil is expressed as the sum of the downwash velocities from the lifting line and its image and is dependent on the height above the ground. The angle of attack of the airfoil is then expressed as a function its downwash velocity, the geometry of the airfoil, and a series representation of its vorticity distribution. The vorticity distribution is calculated from the angle of attack by numerical substitution. Aerodynamic forces and moments on the airfoil are calculated from the vorticity distribution. In another method, a lifting surface and image lifting surface are used to model an airfoil. These methods have particular use in autoland systems, autopilot systems and computer simulations.

摘要翻译： 本发明的实施例涉及用于计算在亚音速飞行中经历动态地面效应的固定翼飞机上的空气动力和力矩的方法。 翼型及其后缘涡流被建模为具有后涡流片的提升线和具有后涡流片的图像提升线。 提升线位于地面以上一定高度，其图像位于地面相等的高度处，以满足地面零正常速度的边界条件。 在翼型处的下降速度表示为来自提升线及其图像的下冲速度的总和，并且取决于地面上方的高度。 翼型的迎角随后表现为其下冲速度，翼型的几何形状及其涡度分布的一系列表示。 涡度分布是通过数值替换的迎角算出的。 从涡度分布计算翼型上的气动力和力矩。 在另一种方法中，提升表面和图像提升表面用于对翼型进行建模。 这些方法在自动驾驶系统和计算机模拟中都有特别的用途。

公开(公告)号：US20050165519A1

公开(公告)日：2005-07-28

申请号：US10767034

申请日：2004-01-28

申请人： Kartik Ariyur ,  Jan Jelinek

发明人： Kartik Ariyur ,  Jan Jelinek

IPC分类号： G05B23/02 ,  G06F7/00

CPC分类号： G05B23/0232

摘要： A trending system and method for trending data in a mechanical system is provided. The trending system includes a sliding window filter. The sliding window filter receives a data set of data points generated by the mechanical system. The sliding window filter partitions the data set into a plurality of data windows, and uses the data windows to calculate upper and lower confidence bounds for the data set. Specifically, the sliding window filter calculates an upper confidence bounds and lower confidence bounds for each data point using each of the multiple data windows that includes the data point. The sliding window filter then selects the upper confidence bounds and the lower confidence bounds that results in the smallest mean prediction confidence interval for that data point. This results in a smoothed estimated trend for the data set that can be used for prognostication and fault detection.

摘要翻译： 提供了一种用于在机械系统中趋势化数据的趋势系统和方法。 趋势系统包括滑动窗口过滤器。 滑动窗口过滤器接收由机械系统生成的数据点的数据集。 滑动窗口过滤器将数据集划分成多个数据窗口，并使用数据窗口来计算数据集的上限和下限置信范围。 具体来说，滑动窗口过滤器使用包括数据点的多个数据窗口中的每一个来计算每个数据点的上置信界限和下置信界限。 然后，滑动窗口过滤器选择导致该数据点的最小平均预测置信区间的较高置信界限和较低置信界限。 这导致可用于预测和故障检测的数据集的平滑估计趋势。

公开(公告)号：US20070107487A1

公开(公告)日：2007-05-17

申请号：US11163693

申请日：2005-10-27

申请人： Kartik Ariyur ,  Anoop Mathur

发明人： Kartik Ariyur ,  Anoop Mathur

IPC分类号： G01D18/00

CPC分类号： G01D18/002

摘要： A system for self-calibration and self-tuning of sensors. The sensors may be calibrated statically and dynamically. The calibration may be automatic. Static calibration may be performed via a slope seeking loop. Dynamic calibration may be performed with both the slope seeking loop and a variation of the slope seeking set point.

摘要翻译： 一种用于传感器自校准和自校正的系统。 传感器可以静态和动态校准。 校准可以是自动的。 静态校准可以通过斜坡求循环进行。 动态校准可以用斜坡寻找回路和斜率寻求设定点的变化进行。