A vehicle and a control method of the vehicle obtains information on a target object in a blind spot based on a result of object detection by the vehicle itself and a result of object detection received from another vehicle. In particular, to the vehicle performs a safe driving control based on the obtained information on the target object. The method of controlling the vehicle may include: setting a blind spot around the vehicle based on the detection result of the object around the vehicle, and performing the safe driving control of the vehicle based on the degree of risk of the target object in the blind spot.

A robotic cleaning appliance includes a housing, surface treatment item, surface type detection sensor, and processor. The sensor emits sonic signals toward a surface being traversed and receives corresponding returned signals from the surface. The returned signals are used for surface type detection and include directly reflected primary returned signals and multi-path reflected secondary returned signals which return at a later time than the primary returned signals. The processor selects a window of time after transmission of a sonic signal such that the returned signals in the window comprise at least a portion of the secondary returned signals, wherein the window is related to round trip time-of-flight of the returned signals; processes the returned signals falling in the window to achieve a reflectivity metric; compares the reflectivity metric to a stored value; and based on the comparison, determines which surface type of a plurality of surface types has been detected.

A robotic cleaning appliance includes a housing, surface treatment item, surface type detection sensor, and processor. The sensor emits sonic signals toward a surface being traversed and receives corresponding returned signals from the surface. The returned signals are used for surface type detection and include directly reflected primary returned signals and multi-path reflected secondary returned signals which return at a later time than the primary returned signals. The processor selects a window of time after transmission of a sonic signal such that the returned signals in the window comprise at least a portion of the secondary returned signals, wherein the window is related to round trip time-of-flight of the returned signals; processes the returned signals falling in the window to achieve a reflectivity metric; compares the reflectivity metric to a stored value; and based on the comparison, determines which surface type of a plurality of surface types has been detected.

A system for determining a measurement of a discharge of a streamflow in open channel conditions using a velocity-area technique featuring a signal processor configured to receive ADCP measurement signaling containing information about ADCP measurements taken in conjunction with the streamflow, GPS signaling containing information about GPS readings in conjunction with ADCP measurements, and signaling containing information about a projection or virtual tag line using two (2) Global Position System (GPS) locations having start and end latitudes and longitudes at a measurement site in a hydrographic operation for a measurement of a discharge in open channel conditions, and an instantaneous GPS position for a station; and determine control signaling containing information to take the ADCP measurements and the GPS readings in conjunction with the ADCP measurements, as well as corresponding signaling containing information about the measurement of the discharge of the streamflow, based upon a respective distance between each station in relation to the projection or virtual tag line, as well as ADCP signaling and the GPS signaling received, using Differential Global Position System (DGPS) or Real Time Kinematic GPS (RTK GPS).

A system for determining a measurement of a discharge of a streamflow in open channel conditions using a velocity-area technique featuring a signal processor configured to receive ADCP measurement signaling containing information about ADCP measurements taken in conjunction with the streamflow, GPS signaling containing information about GPS readings in conjunction with ADCP measurements, and signaling containing information about a projection or virtual tag line using two (2) Global Position System (GPS) locations having start and end latitudes and longitudes at a measurement site in a hydrographic operation for a measurement of a discharge in open channel conditions, and an instantaneous GPS position for a station; and determine control signaling containing information to take the ADCP measurements and the GPS readings in conjunction with the ADCP measurements, as well as corresponding signaling containing information about the measurement of the discharge of the streamflow, based upon a respective distance between each station in relation to the projection or virtual tag line, as well as ADCP signaling and the GPS signaling received, using Differential Global Position System (DGPS) or Real Time Kinematic GPS (RTK GPS).

A method (200) of determining a transformation matrix for transformation of ranging data from a first coordinate system for the ranging sensor to a second coordinate system for an image sensor is disclosed. The method comprises providing (201) a ranging sensor and an image sensor; acquiring (202) a ranging frame sequence, and an image frame sequence; determining (203) points of motion in frames of each acquired frame sequence; for each frame in one of the frame sequences: evaluating (204) if a single motion point has been determined in the frame, and if a single motion point has been determined, evaluating (206) if a single motion point has been determined in a temporally corresponding frame of the other frame sequence and, in that case, pairing (207) the temporally corresponding frames, whereby a set of frame pairs is formed, and determining (209) the transformation matrix based on the set of frame pairs.

An underwater ultrasonic device includes a curvilinear ultrasonic transducer and a plurality of straight linear ultrasonic transducers. The straight linear ultrasonic transducers are disposed with respect to the curvilinear ultrasonic transducer. A first angle is included between the straight linear ultrasonic transducers. One of the curvilinear ultrasonic transducer and the straight linear ultrasonic transducer is configured to transmit a plurality of ultrasonic signals. Another one of the curvilinear ultrasonic transducer and the straight linear ultrasonic transducer is configured to receive a plurality of reflected signals of the ultrasonic signals.

An underwater ultrasonic device includes a curvilinear ultrasonic transducer and a plurality of straight linear ultrasonic transducers. The straight linear ultrasonic transducers are disposed with respect to the curvilinear ultrasonic transducer. A first angle is included between the straight linear ultrasonic transducers. One of the curvilinear ultrasonic transducer and the straight linear ultrasonic transducer is configured to transmit a plurality of ultrasonic signals. Another one of the curvilinear ultrasonic transducer and the straight linear ultrasonic transducer is configured to receive a plurality of reflected signals of the ultrasonic signals.

This disclosure relates generally to methods and systems for unobtrusive and automated detection of frequencies of spatially located distinct parts of a machine. Location of vibration and detection of vibration frequency of each vibrating part in a machine is critical for routine monitoring and fault detection in the machine. Current solutions use either high frames per second (fps) industrial grade camera or stroboscopes tuned at one particular frequency. Manual stroboscopes require manual intervention for objects moving at different speeds with high convergence time. Point-lasers need prior knowledge of exact location of faults. Also Point-by-point scanning of a large machine body is time consuming. In the present disclosure, a movement detector such as RADAR enables detecting all vibration frequencies that also serve to reduce the search space of a stroboscope configured to start strobing at each detected vibration frequency to enable mapping of each vibration frequency to a corresponding vibrating part.

This disclosure relates generally to methods and systems for unobtrusive and automated detection of frequencies of spatially located distinct parts of a machine. Location of vibration and detection of vibration frequency of each vibrating part in a machine is critical for routine monitoring and fault detection in the machine. Current solutions use either high frames per second (fps) industrial grade camera or stroboscopes tuned at one particular frequency. Manual stroboscopes require manual intervention for objects moving at different speeds with high convergence time. Point-lasers need prior knowledge of exact location of faults. Also Point-by-point scanning of a large machine body is time consuming. In the present disclosure, a movement detector such as RADAR enables detecting all vibration frequencies that also serve to reduce the search space of a stroboscope configured to start strobing at each detected vibration frequency to enable mapping of each vibration frequency to a corresponding vibrating part.