A method for balancing a set of blades intended to be arranged on a bare disc of an aircraft engine, the bare disc comprising a defined number of numbered cells (ai) intended to receive the same defined number of blades, which can have a spread of mass, the method comprising the following steps:sorting the blades by monotonic order of their mass (mi) to form an ordered set of blades,separating the ordered set of blades in a balanced manner into four lobes constituted by a first large lobe, by a second large lobe, by a first small lobe and by a second small lobe, the blades being classified into each lobe according to a current placement order, andarranging the four lobes on the bare disc by making the current placement order of the blades correspond to the numbered cells of the bare disc.

The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.

The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.

A method is described for calibrating a balancing machine, in which a rotor (1) to be corrected is rotatably mounted in bearings (2) and a correction run k is performed, wherein at least one measuring sensor (3) determines an initial vibration of the rotor (1) prior to an imbalance correction and transmits this vibration to an evaluation device (4), which stores the measured value as vibration vector {right arrow over (s)}.sub.0. After an imbalance on the rotor (1) is corrected, a residual vibration of the rotor (1) is measured by measuring sensor (3), transmitted to the evaluation unit (4) and stored as vibration vector {right arrow over (s)}.sub.1. The difference {right arrow over (s)}={right arrow over (s)}.sub.1{right arrow over (s)}.sub.0 formed from the measurement data and the corrected imbalance is stored for compensation run k as {right arrow over (s)}.sub.k and {right arrow over (u)}.sub.k by the evaluation unit (4). To undertake a calibration of the machine, one can either determine a process calibration matrix K by solving the equation system S=UK.sup.T using the collected measurement data or one can select an already available process calibration matrix using the initial vibration {right arrow over (s)}.sub.0 and/or imbalance vector {right arrow over (u)} and store it as a calibration matrix in the evaluation unit (4) and use it to calculate an unknown imbalance vector of a rotor (1).

A method is described for calibrating a balancing machine, in which a rotor (1) to be corrected is rotatably mounted in bearings (2) and a correction run k is performed, wherein at least one measuring sensor (3) determines an initial vibration of the rotor (1) prior to an imbalance correction and transmits this vibration to an evaluation device (4), which stores the measured value as vibration vector {right arrow over (s)}.sub.0. After an imbalance on the rotor (1) is corrected, a residual vibration of the rotor (1) is measured by measuring sensor (3), transmitted to the evaluation unit (4) and stored as vibration vector {right arrow over (s)}.sub.1. The difference {right arrow over (s)}={right arrow over (s)}.sub.1{right arrow over (s)}.sub.0 formed from the measurement data and the corrected imbalance is stored for compensation run k as {right arrow over (s)}.sub.k and {right arrow over (u)}.sub.k by the evaluation unit (4). To undertake a calibration of the machine, one can either determine a process calibration matrix K by solving the equation system S=UK.sup.T using the collected measurement data or one can select an already available process calibration matrix using the initial vibration {right arrow over (s)}.sub.0 and/or imbalance vector {right arrow over (u)} and store it as a calibration matrix in the evaluation unit (4) and use it to calculate an unknown imbalance vector of a rotor (1).

Methods and systems for installing tires to corresponding wheels are disclosed. An example method includes measuring non-uniformity of a first assembled tire and wheel at three or more different relative rotational positions to determine corresponding measurements of non-uniformity according to a predetermined metric, and determining that each of the measurements are above a predetermined non-uniformity limit. A rotationally relative installation position for the tire on the wheel may be determined using at least these measurements, with the position of the tire relative to the wheel in the rotationally relative installation position being different from each of the first, second, and third relative rotational positions. In examples where at least a second tire/wheel combination is measured below the non-uniformity threshold, installation of the second tire/wheel may conclude at the position where the assembled tire/wheel is measured below the non-uniformity threshold.

Methods and systems for installing tires to corresponding wheels are disclosed. An example method includes measuring non-uniformity of a first assembled tire and wheel at three or more different relative rotational positions to determine corresponding measurements of non-uniformity according to a predetermined metric, and determining that each of the measurements are above a predetermined non-uniformity limit. A rotationally relative installation position for the tire on the wheel may be determined using at least these measurements, with the position of the tire relative to the wheel in the rotationally relative installation position being different from each of the first, second, and third relative rotational positions. In examples where at least a second tire/wheel combination is measured below the non-uniformity threshold, installation of the second tire/wheel may conclude at the position where the assembled tire/wheel is measured below the non-uniformity threshold.

Movement device for moving an object along a movement surface, including: a percussion mass and suspension device, connecting the percussion mass to object, moving to move the percussion mass repeatedly along a closed path, a head, constrained to the object, to interfere with the closed path, the percussion mass interfering with the head along an advance line and direction, connection device for connecting the object to the movement surface to create friction between the object and movement surface. The percussion mass interfering with the head causes a reaction force exceeding the friction, capable of moving the object relative to the movement surface. The percussion mass not interfering with the head along the closed path does not cause reaction forces exceeding the friction, capable of moving the object relative to the movement surface.

Methods and systems for installing tires to corresponding wheels are disclosed. An example method includes measuring non-uniformity of a first assembled tire and wheel at three or more different relative rotational positions to determine corresponding measurements of non-uniformity according to a predetermined metric, and determining that each of the measurements are above a predetermined non-uniformity limit. A rotationally relative installation position for the tire on the wheel may be determined using at least these measurements, with the position of the tire relative to the wheel in the rotationally relative installation position being different from each of the first, second, and third relative rotational positions. In examples where at least a second tire/wheel combination is measured below the non-uniformity threshold, installation of the second tire/wheel may conclude at the position where the assembled tire/wheel is measured below the non-uniformity threshold.

Technical solutions are described for damping dependent scaling for wheel imbalance reduction in steering systems. An example method includes determining roadwheel speed energy using a roadwheel speed signal. The method further includes determining that the roadwheel speed energy is greater than a predetermined energy threshold, and in response, adjusting the roadwheel speed signal, and computing a wheel imbalance reduction using the adjusted roadwheel speed signal. The method further includes, in case of determining that roadwheel speed energy is not greater than the predetermined energy threshold, and in response computing the wheel imbalance reduction using the roadwheel signal, without any adjustment. The method further includes computing a motor torque command using the wheel imbalance reduction, the motor torque command used to generate a corresponding amount of torque at a handwheel.