A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.

An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

A relative rotational angular displacement detection device includes a pair of rotatable members rotatable relative to each other in a circumferential direction. A permanent magnet is attached to one of the rotatable members and includes magnetic poles magnetized in an axial direction of the axis of rotation and arranged to alternate in polarity in the circumferential direction. A magnetic flux guiding ring includes an annular ring body attached to the other of the rotatable members and is arranged coaxially with the axis of rotation, and a plurality of protruding portions each having a circumferential width smaller than the circumferential width of the magnetic pole. A magnetic detection unit is configured to detect magnetic fluxes of the ring body of the magnetic flux guiding ring. The magnetic flux guiding ring is magnetized depending on the positions of the protruding portions relative to the positions of the magnetic poles.

A torque and power measuring device corresponding to the non-drive side cyclist leg, comprising a hollow shaft connecting the two bicycle crank arms with strain sensors arranged in the shaft surface. These sensors are connected to an electronic control unit housed inside the shaft, to which are also connected other different sensors to measure a plurality of interesting quantities (pedaling cadence, crank arm angular position . . . ). This electronic control unit picks the sensor signals up, stores them and performs pre-programmed software operations to later wirelessly output the result signals towards a receiving device for analysis and/or storage them, by means of an antenna located outside the shaft and anchored to the outer surface of the jointed crank arm with the shaft.

In a test run, in order to easily provide a high-quality propulsion torque of a torque generator based on the partially low-quality measured variables available on the test bench, it is foreseen that an inner torque (M.sub.i) of the torque generator (D) is measured and based on the measured inner torque (M.sub.i), from an equation of motion, including the measured inner torque (M.sub.i), a dynamic torque (M.sub.dyn) and a shaft torque (M.sub.w) measured on the output shaft of the torque generator (D), a correction torque ({circumflex over (M)}.sub.cor) is estimated, and from the estimated correction torque ({circumflex over (M)}.sub.cor) and the measured inner torque (M.sub.i), the propulsion torque (M.sub.v) according to the relation M.sub.v={circumflex over (M)}.sub.cor+M.sub.i is computed.

In a test run, in order to easily provide a high-quality propulsion torque of a torque generator based on the partially low-quality measured variables available on the test bench, it is foreseen that an inner torque (M.sub.i) of the torque generator (D) is measured and based on the measured inner torque (M.sub.i), from an equation of motion, including the measured inner torque (M.sub.i), a dynamic torque (M.sub.dyn) and a shaft torque (M.sub.w) measured on the output shaft of the torque generator (D), a correction torque ({circumflex over (M)}.sub.cor) is estimated, and from the estimated correction torque ({circumflex over (M)}.sub.cor) and the measured inner torque (M.sub.i), the propulsion torque (M.sub.v) according to the relation M.sub.v={circumflex over (M)}.sub.cor+M.sub.i is computed.

A system and method for determining the load in a material handling system is disclosed. The load weight detection system measures torque at four operating conditions both at constant speed and during acceleration. The level of torque generated by the motor under each of these operating conditions is stored in the motor drive. The motor drive also receives a signal corresponding to the speed of the hoist motor. Based on the measured torque, as well as the expected torque at no load and at rated load for the measured speed, the motor drive then determines the load present on the hoist. In some systems, two or more hoists are required to operate in tandem to lift a load. Each motor drive determines the weight of the load supported by its respective hoist motor and determines a total weight of the load based on the weights determined by each motor drive.

A misfire detection device for an internal combustion engine is provided. A mapping takes time series data of instantaneous speed parameters as inputs. Each instantaneous speed parameter corresponds to one of a plurality of successive second intervals in a first interval. The instantaneous speed parameters correspond to the rotational speed of the crankshaft. The first interval is a rotational angular interval of the crankshaft in which compression top dead center occurs. The second interval is smaller than an interval between compression top dead center positions. The mapping outputs a probability that a misfire has occurred in at least one cylinder that reaches compression top dead center in the first interval. The mapping data defining the mapping has been learned by machine learning.

A misfire detection device for an internal combustion engine is provided. A mapping takes time series data of instantaneous speed parameters as inputs. Each instantaneous speed parameter corresponds to one of a plurality of successive second intervals in a first interval. The instantaneous speed parameters correspond to the rotational speed of the crankshaft. The first interval is a rotational angular interval of the crankshaft in which compression top dead center occurs. The second interval is smaller than an interval between compression top dead center positions. The mapping outputs a probability that a misfire has occurred in at least one cylinder that reaches compression top dead center in the first interval. The mapping data defining the mapping has been learned by machine learning.