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1. 发明申请

WO2011133971A1 CRANE CONTROL SYSTEMS AND METHODS 审中-公开
标题翻译：起重机控制系统和方法
公开(公告)号：WO2011133971A1
公开(公告)日：2011-10-27
申请号：PCT/US2011/033769
申请日：2011-04-25
申请人： GEORGIA TECH RESEARCH CORPORATION , SINGHOSE, William , PENG, Chen, Chih
发明人： SINGHOSE, William , PENG, Chen, Chih
IPC分类号： B66C13/18
CPC分类号： B66C13/40 , B66C13/063
摘要： The various embodiments of the present disclosure relate generally to crane control systems. An exemplary embodiment of the present invention provides a crane control system comprising a real-time position-location module, an on-off controller module, and an input- shaper module. The real-time position-location module generates a position signal indicative of the distance between crane trolley and a desired location of safety. The on-off controller module maps the position signal to a velocity command signal, wherein the velocity command signal comprises instructions for the crane trolley to move in a vector relative to the desired location in at least a first velocity only if the distance between the crane trolley and the desired location is greater than a cut-off threshold 150. The at least a first velocity is a substantially constant. The input shaper module manipulates the velocity command signal mapped by the on-off controller module to dampen payload oscillations.
摘要翻译：本公开的各种实施例一般涉及起重机控制系统。本发明的示例性实施例提供了一种起重机控制系统，其包括实时位置定位模块，开关控制器模块和输入整形器模块。实时位置模块产生指示起重机手推车与期望的安全位置之间的距离的位置信号。所述开关控制器模块将所述位置信号映射到速度指令信号，其中所述速度指令信号包括所述起重机手推车只要所述起重机之间的距离才能以至少第一速度相对于所述期望位置向量移动的指令并且期望的位置大于截止阈值150.至少第一速度基本上是恒定的。输入整形器模块操纵由开 - 关控制器模块映射的速度指令信号来抑制有效载荷振荡。

2. 发明申请

WO2006115912A2 COMBINED FEEDBACK AND COMMAND SHAPING CONTROLLER FOR MULTISTATE CONTROL WITH APPLICATION TO IMPROVING POSITIONING AND REDUCING CABLE SWAY IN CRANES 审中-公开
标题翻译：用于多台控制的组合反馈和命令形状控制器，用于改进定位和减少起重机中的电缆线
公开(公告)号：WO2006115912A2
公开(公告)日：2006-11-02
申请号：PCT/US2006/014600
申请日：2006-04-19
申请人： GEORGIA TECH RESEARCH CORPORATION , SORENSEN, Khalid, Lief , SINGHOSE, William , DICKERSON, Stephen
发明人： SORENSEN, Khalid, Lief , SINGHOSE, William , DICKERSON, Stephen
IPC分类号： G06F7/00
CPC分类号： B66C13/063
摘要： Disclosed are algorithms for controlling multiple states of a dynamic system, such as controlling positioning and cable sway in cranes. Exemplary apparatus and methods may be implemented using first and second serially coupled feedback loops coupled to a plant and payload that are to be controlled. The first feedback loop comprises a first control module. It generates a filtered actuator command from an error signal derived from a signal representing a desired system state and a feedback signal indicative of the actual system state. The generated signal is operative to position the payload. The second feedback loop comprises a second control module that generates a second actuator command that is operative to cause the plant to have an output of zero, to eliminate disturbance-induced oscillations. Input shaping may be employed in the first loop for eliminating motion-induced oscillations. The first control module is used for precise payload positioning, and the second control module is used to reject disturbance-induced oscillations. A model reference loop may be employed that outputs a modeled response that is an estimate of the response of the plant in the absence of external disturbances, and which may be used to generate a second actuator command for causing the plant to follow the modeled response.
摘要翻译：公开了用于控制动态系统的多个状态的算法，例如控制起重机中的定位和电缆摇摆。可以使用耦合到待控制的设备和有效载荷的第一和第二串联耦合的反馈回路来实现示例性设备和方法。第一反馈回路包括第一控制模块。它从根据表示期望的系统状态的信号和指示实际系统状态的反馈信号导出的误差信号产生一个滤波的致动器指令。产生的信号用于定位有效载荷。第二反馈回路包括第二控制模块，该第二控制模块产生第二致动器命令，该第二致动器命令用于使设备具有零的输出，以消除扰动引起的振荡。在第一循环中可以采用输入整形来消除运动引起的振荡。第一控制模块用于精确的负载定位，第二控制模块用于抑制扰动引起的振荡。可以采用模型参考回路，其输出作为在没有外部干扰的情况下工厂的响应的估计的建模响应，并且其可以用于产生用于使设备跟随建模响应的第二致动器命令。

3. 发明申请

WO2019014238A1 SYSTEMS AND METHODS FOR TRACKING BODY MOVEMENT 审中-公开
公开(公告)号：WO2019014238A1
公开(公告)日：2019-01-17
申请号：PCT/US2018/041468
申请日：2018-07-10
申请人： GEORGIA TECH RESEARCH CORPORATION
发明人： SINGHOSE, William , SCHLAGENHAUF, Franziska
IPC分类号： A61B5/11 , G06T7/20 , G06T7/277 , G06K9/00
摘要： A system for tracking body movement can comprise a first markerless sensor, a second markerless sensor, a processor, and a memory. The first markerless sensor can be configured to generate a first set of data indicative of positions of at least a portion of a body over a period of time. The second markerless sensor can be configured to generate a second set of data indicative of positions of the at least a portion of the body over the period of time. The memory can comprise logical instructions that, when executed by the processor, cause the processor to generate a third set of data based on the first and second sets of data. The third set of data can be indicative of estimates of at least one of joint positions and joint angles of the at least a portion of the body over the period of time.

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