A method of estimating a motor velocity in an electric power steering system that includes a motor is provided. The method generates motor position data by sampling an original motor position signal at an irregular sampling rate. The method estimates a motor velocity by performing a regression analysis on the motor position data.

A method and system are described for the continuous remote monitoring of the position and advance speed of a pig device inside a pipeline suitable for transporting a pressurized fluid, wherein the pipeline consists of a plurality of pipe sections joined to each other by welding. The method comprising the following steps: continuous acquisition and registration, by a plurality of measurement stations equipped with vibroacoustic sensors discretely located along the pipeline, of vibroacoustic signals due to hydraulic pressure transients, and/or to the vibrations generated by the pig device in movement in the contact/friction phases on the welding seams, and/or to other physical variations of the pipeline; analysis and processing, by a centralized control unit, of the vibroacoustic signals registered by the measurement stations to reveal, identify and reference the hydraulic/acoustic transients produced by the pig device during contact/friction with the weldings and/or with other variations in the internal section of the pipeline; continuous calculation of the linear position and advance speed of the pig device in relation to the time lapse between the vibroacoustic signals registered by at least two measurement stations installed along the pipeline.

A method and system are described for the continuous remote monitoring of the position and advance speed of a pig device inside a pipeline suitable for transporting a pressurized fluid, wherein the pipeline consists of a plurality of pipe sections joined to each other by welding. The method comprising the following steps: continuous acquisition and registration, by a plurality of measurement stations equipped with vibroacoustic sensors discretely located along the pipeline, of vibroacoustic signals due to hydraulic pressure transients, and/or to the vibrations generated by the pig device in movement in the contact/friction phases on the welding seams, and/or to other physical variations of the pipeline; analysis and processing, by a centralized control unit, of the vibroacoustic signals registered by the measurement stations to reveal, identify and reference the hydraulic/acoustic transients produced by the pig device during contact/friction with the weldings and/or with other variations in the internal section of the pipeline; continuous calculation of the linear position and advance speed of the pig device in relation to the time lapse between the vibroacoustic signals registered by at least two measurement stations installed along the pipeline.

According to some embodiments of the present invention there are provided a method for calculating a volume of an individual falling drop of liquid by analyzing electromagnetic radiation (EMR) reception, the method comprising projecting electromagnetic radiation (EMR) from an EMR source, measuring the EMR using at least one EMR sensor when the EMR is partially interfered with by a drop falling between the EMR source and the EMR sensor, calculating a plurality of widths parallel to a vertical axis of the drop, each one of the plurality of widths is calculated according to a reception of a time correlated measured portion of the EMR, and calculating a volume of the drop by combining the plurality of widths and a velocity of the drop when the drop is falling between the EMR source and the EMR sensor.

According to some embodiments of the present invention there are provided a method for calculating a volume of an individual falling drop of liquid by analyzing electromagnetic radiation (EMR) reception, the method comprising projecting electromagnetic radiation (EMR) from an EMR source, measuring the EMR using at least one EMR sensor when the EMR is partially interfered with by a drop falling between the EMR source and the EMR sensor, calculating a plurality of widths parallel to a vertical axis of the drop, each one of the plurality of widths is calculated according to a reception of a time correlated measured portion of the EMR, and calculating a volume of the drop by combining the plurality of widths and a velocity of the drop when the drop is falling between the EMR source and the EMR sensor.

A device (9, 9a) for estimating a current wheel diameter of a wheel of a rail-based vehicle on a predetermined network of routes includes an interface (8) for collecting vibration data (5) of at least one wheel acting on the rail-based vehicle as an acceleration of the rail-based vehicle. The vibrations detectable using at least one wireless sensor (2a, 2b, 2c, 2d) arranged proximate the at least one wheel. A computing unit is configured for generating a predicted speed on the basis of the vibration data (5). A comparator unit is configured for estimating a wheel diameter based on differences between the predicted speed and an identified, corresponding ground truth speed (17).

A device (9, 9a) for estimating a current wheel diameter of a wheel of a rail-based vehicle on a predetermined network of routes includes an interface (8) for collecting vibration data (5) of at least one wheel acting on the rail-based vehicle as an acceleration of the rail-based vehicle. The vibrations detectable using at least one wireless sensor (2a, 2b, 2c, 2d) arranged proximate the at least one wheel. A computing unit is configured for generating a predicted speed on the basis of the vibration data (5). A comparator unit is configured for estimating a wheel diameter based on differences between the predicted speed and an identified, corresponding ground truth speed (17).

A lane keeping assist device assists a steer-by-wire vehicle to stay in a traveling lane. The lane keeping assist device controls the turning angle of the turning wheel using a first turning angle calculated to keep the vehicle in the traveling lane and using a second turning angle corresponding to the steering amount of the steering wheel. The lane keeping assist device detects a vehicle speed of the vehicle. The lane keeping assist device calculates a first reaction force command value to the steering wheel corresponding to the first turning angle and a second reaction force command value to the steering wheel corresponding to the second turning angle. The lane keeping assist device controls a steering reaction force to be imparted to the steering wheel to correspond only to the second reaction force command value when the vehicle speed is higher than a predetermined threshold value.

A lane keeping assist device assists a steer-by-wire vehicle to stay in a traveling lane. The lane keeping assist device controls the turning angle of the turning wheel using a first turning angle calculated to keep the vehicle in the traveling lane and using a second turning angle corresponding to the steering amount of the steering wheel. The lane keeping assist device detects a vehicle speed of the vehicle. The lane keeping assist device calculates a first reaction force command value to the steering wheel corresponding to the first turning angle and a second reaction force command value to the steering wheel corresponding to the second turning angle. The lane keeping assist device controls a steering reaction force to be imparted to the steering wheel to correspond only to the second reaction force command value when the vehicle speed is higher than a predetermined threshold value.

An obstacle warning method includes the steps of: acquiring scenario images at a current sampling time and a previous sampling time, and a map about first relative distances between respective viewing points in a viewing field and a vehicle; acquiring a profile and marking information of an obstacle and a map about a second relative distance between the obstacle and the vehicle in accordance with the map about the first relative distances; calculating a map about a third relative distance between the obstacle and the vehicle at a previous sampling time in accordance with the map about the first relative distances at the previous sampling time, the profile and the marking information of the obstacle at the current sampling time and a motion vector of the obstacle from the current sampling time to the previous sampling time.