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1. 发明公开

US20240116493A1 WHEELED GROUND VEHICLE ROLLOVER PROTECTION CONTROL BY TRAJECTORY LINEARIZATION CONTROL 审中-公开
公开(公告)号：US20240116493A1
公开(公告)日：2024-04-11
申请号：US18479916
申请日：2023-10-03
申请人： Ohio University
发明人： Jianchao Zhu , Yuanyan Chen
IPC分类号： B60W30/04
CPC分类号： B60W30/04 , B60W2520/14 , B60W2710/207 , B60W2720/18
摘要： A rollover prevention and mitigation controller for a vehicle comprising a controller adapted to reduce or reverse lateral force via reduction of the velocity of a vehicle, and manipulation of a steering angle, wherein manipulation of the steering angle reduces or reverses the yaw rate.

2. 发明申请

US20140190289A1 MOTORIZED DRIVE SYSTEM AND METHOD FOR ARTICULATING A JOINT 有权
标题翻译：电动驱动系统和连接方法
公开(公告)号：US20140190289A1
公开(公告)日：2014-07-10
申请号：US14236655
申请日：2012-08-06
申请人： OHIO UNIVERSITY
发明人： Jianchao Zhu
IPC分类号： F16H21/16
CPC分类号： F16H21/16 , A61H1/0262 , A61H3/00 , B25J9/104 , B62D57/02 , Y10T74/18832 , Y10T74/18848
摘要： A motorized drive system and method for articulating an articulated joint having a motor and an elastic cable. The elastic cable is operatively connected to both the motor and the articulated joint such that the motor articulates the joint via the elastic cable. In addition, the elastic cable is adapted to be sufficiently elastic such that the motorized drive system is configured to use one motor for each degree of freedom through which the articulated joint moves.
摘要翻译：一种用于铰接具有马达和弹性缆索的铰接接头的电动驱动系统和方法。弹性电缆可操作地连接到电动机和铰接接头，使得电动机通过弹性电缆铰接接头。此外，弹性电缆适于具有足够的弹性，使得电动驱动系统被配置为对于铰接接头移动通过其自由度使用一个电动机。

3. 发明授权

US11566892B2 Air data probe 有权
公开(公告)号：US11566892B2
公开(公告)日：2023-01-31
申请号：US16341601
申请日：2017-10-27
申请人： Ohio University
发明人： Jianchao Zhu , Miguel Sosa Sempertegui , Stuart Randle
IPC分类号： G01C5/00 , H05B6/64 , B64D15/12 , B64D41/00 , B64D43/00 , G01P5/16
摘要： An air data probe (10) and associated method of method of measuring air data is disclosed. The air data probe includes a plurality of air pressure sensors, and a body (14) that encloses a hollow interior cavity (16), where the body (14) has a generally symmetrical airfoil profile. The body (14) includes a plurality of projections (20a-d) extending beyond the generally symmetrical airfoil profile, each of the plurality of projections (20a-d) including an pressure port (22a-d) at a distal end (24a-d) that is in communication with the hollow interior cavity. Each of the pressure ports (22a-d) receives a corresponding air pressure sensor (12a-d) that is configured to collect static and dynamic air pressure data.

4. 发明授权

US11366478B2 Autonomous automobile guidance and trajectory-tracking 有权
公开(公告)号：US11366478B2
公开(公告)日：2022-06-21
申请号：US16348280
申请日：2017-11-13
申请人： Ohio University
发明人： Jianchao Zhu , Yuanyan Chen
IPC分类号： G05D1/02 , B60W40/103 , B60W40/114
摘要： Systems, methods, and computer program products for autonomous car-like ground vehicle guidance and trajectory tracking control. A multi-loop 3DOF trajectory linearization controller provides guidance to a vehicle having nonlinear rigid-body dynamics with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The controller may be based on a closed-loop PD-eigenvalue assignment and a singular perturbation (time-scale separation) theory for exponential stability, and controls the longitudinal velocity and steering angle simultaneously to follow a feasible guidance trajectory. A line-of-sight based pure-pursuit guidance controller may generate a 3DOF spatial trajectory that is provided to the 3DOF controller to enable target pursuit and path-following/trajectory-tracking. The resulting combination may provide a 3DOF motion control system with integrated simultaneous steering and speed control for automobile and car-like mobile robot target pursuit and trajectory-tracking.

5. 发明授权

US11360491B2 Loss-of-control prevention and recovery flight controller 有权
公开(公告)号：US11360491B2
公开(公告)日：2022-06-14
申请号：US15927482
申请日：2018-03-21
申请人： Ohio University
发明人： Jianchao Zhu , Yue Zhao
IPC分类号： G05D1/10 , G05D1/08 , B64C19/00 , G05D1/00 , G05D1/04
摘要： A loss-of-control prevention and recovery automatic control system of an aircraft is provided having a plurality of flight control mode, including a nominal flight control mode, a loss-of-control prevention control mode, a loss-of-control arrest control mode, and a nominal flight restoration control mode, as well as a supervisory control system capable of monitoring the flight states and flight events of the aircraft and determining which flight control mode to activate.

6. 发明申请

US20210333099A1 Air Data Probe 有权
公开(公告)号：US20210333099A1
公开(公告)日：2021-10-28
申请号：US16341601
申请日：2017-10-27
申请人： Ohio University
发明人： Jianchao Zhu , Miguel Sosa Sempertegui , Stuart Randle
IPC分类号： G01C5/00 , G01P5/16 , H05B6/64 , B64D43/00 , B64D41/00 , B64D15/12
摘要： An air data probe (10) and associated method of method of measuring air data is disclosed. The air data probe includes a plurality of air pressure sensors, and a body (14) that encloses a hollow interior cavity (16), where the body (14) has a generally symmetrical airfoil profile. The body (14) includes a plurality of projections (20a-d) extending beyond the generally symmetrical airfoil profile, each of the plurality of projections (20a-d) including an pressure port (22a-d) at a distal end (24a-d) that is in communication with the hollow interior cavity. Each of the pressure ports (22a-d) receives a corresponding air pressure sensor (12a-d) that is configured to collect static and dynamic air pressure data.

7. 发明申请

US20180267560A1 LOSS-OF-CONTROL PREVENTION AND RECOVERY FLIGHT CONTROLLER 审中-公开
公开(公告)号：US20180267560A1
公开(公告)日：2018-09-20
申请号：US15927482
申请日：2018-03-21
申请人： Ohio University
发明人： Jianchao Zhu , Yue Zhao
IPC分类号： G05D1/08 , G05D1/04 , G05D1/00 , G05D1/10
CPC分类号： G05D1/0808 , B64C13/16 , G05D1/0072 , G05D1/042 , G05D1/0816 , G05D1/101
摘要： A loss-of-control prevention and recovery automatic control system of an aircraft is provided having a plurality of flight control mode, including a nominal flight control mode, a loss-of-control prevention control mode, a loss-of-control arrest control mode, and a nominal flight restoration control mode, as well as a supervisory control system capable of monitoring the flight states and flight events of the aircraft and determining which flight control mode to activate.

8. 发明申请

US20160001872A1 Foldable Wing System For A Vehicle 审中-公开
标题翻译：车辆可折叠翼系统
公开(公告)号：US20160001872A1
公开(公告)日：2016-01-07
申请号：US14853381
申请日：2015-09-14
申请人： Ohio University
发明人： Jianchao Zhu
IPC分类号： B64C3/56 , B64C37/00
CPC分类号： B64C3/56 , B60F3/0007 , B64C29/0025 , B64C29/0033 , B64C37/00
摘要： A multi-modal vehicle (“MMV”) 20a-20d. The MMV 20a-20d includes a fuselage 22 and a chassis 26 supporting at least three wheels 44 having deployed and stowed states. Extending away from the fuselage 22 is a canard wing system 28 and a main wing system 30. The main wing system 30 includes an inboard portion 134 and an outboard portion 132. The inboard portion 134 is pivotally connected to the fuselage 22; the outboard portion 132 is pivotally connected to the inboard portion 134. The MMV 20a-20d further includes a vertical thrust system 32 comprising a pair of ducted fans 100 that are incorporated into the fuselage 22, and a dual-use thrust system 34 that is configured to transition between a first position for supplying vertical thrust and a second position for supplying a horizontal thrust. A controller 42 is configured to control the MMV operations, reconfigurations, or transitions.
摘要翻译：多模态车辆（“MMV”）20a-20d。 MMV 20a-20d包括机身22和支撑至少三个具有展开和收起状态的轮44的底盘26。从机身22延伸的是鸭翼系统28和主翼系统30.主翼系统30包括内侧部分134和外侧部分132.内侧部分134枢转地连接到机身22; 外侧部分132枢转地连接到内侧部分134.MMV 20a-20d还包括垂直推力系统32，其包括结合到机身22中的一对管道风扇100和两用推力系统34，构造成在用于提供垂直推力的第一位置和用于提供水平推力的第二位置之间转变。控制器42被配置为控制MMV操作，重新配置或转换。

9. 发明授权

US11904938B2 Obstacle avoidance guidance for ground vehicles 有权
公开(公告)号：US11904938B2
公开(公告)日：2024-02-20
申请号：US17048285
申请日：2019-04-16
申请人： Ohio University
发明人： Jianchao Zhu , Letian Lin
IPC分类号： B62D15/02 , G05D1/02 , G05D1/00
CPC分类号： B62D15/0285 , G05D1/021 , G05D2201/02
摘要： Systems, methods, and computer program products for guiding vehicles. A vehicle control system detects obstacles and avoids contact between the vehicle, and the obstacles by solving a path planning problem using a four-phase system. In a parking scenario, switching control laws are used to drive the vehicle to a target line, and a forward path segment and a reverse path segment defined. The two path segments are connected along the target line to define a path for entering or exiting the parking space. Objects in a driving environment may be avoided by identifying an obstacle corner, defining an avoidance circle (62), (185) around the obstacle corner, and determining a path that allows the vehicle to avoid penetrating the avoidance circle. A line-of-sight guidance method may be used to follow the path by defining target points on the path at a lookout distance l, and steering the vehicle using the target points.

10. 发明申请

US20210163068A1 OBSTACLE AVOIDANCE GUIDANCE FOR GROUND VEHICLES 有权
公开(公告)号：US20210163068A1
公开(公告)日：2021-06-03
申请号：US17048285
申请日：2019-04-16
申请人： Ohio University
发明人： Jianchao Zhu , Letian Lin
IPC分类号： B62D15/02 , G05D1/02
摘要： Systems, methods, and computer program products for guiding vehicles. A vehicle control system detects obstacles and avoids contact between the vehicle, and the obstacles by solving a path planning problem using a four-phase system. In a parking scenario, switching control laws are used to drive the vehicle to a target line, and a forward path segment and a reverse path segment defined. The two path segments are connected along the target line to define a path for entering or exiting the parking space. Objects in a driving environment may be avoided by identifying an obstacle corner, defining an avoidance circle (62), (185) around the obstacle corner, and determining a path that allows the vehicle to avoid penetrating the avoidance circle. A line-of-sight guidance method may be used to follow the path by defining target points on the path at a lookout distance l, and steering the vehicle using the target points.

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