At least one controller configured to control an actuator of an active suspension system. The at least one controller includes circuitry configured to determine an actuator state, and apply the actuator state and a commanded state to an inverse model of the actuator to produce an actuator command. The circuitry is configured to produce the actuator command by a process that includes performing low pass filtering and phase compensation to correct a phase introduced by the low pass filtering.

A method and apparatus for building an assembly fixture for holding a fuselage assembly. A number of cradle fixtures may be driven across a floor to an assembly area. The number of cradle fixtures may be configured to form the assembly fixture.

A method and apparatus for adjusting an adjustable retaining structure. The adjustable retaining structure may be rotated, passively, about a spherical interface as a panel applies a load to the adjustable retaining structure.

A suspension including a spring interposed between the body (B) of the vehicle and the wheel (W); a regenerative hydraulic shock-absorbing unit comprising a hydraulic shock-absorber arranged parallel to the spring, a motor and pump unit with a volumetric hydraulic machine and an electric machine coupled to the hydraulic machine), and an electronic control unit arranged to control the torque of the electric machine. A hydraulic actuator is arranged in series with the spring. A reservoir and a hydraulic circuit are connected to each other, the hydraulic shock-absorber, the hydraulic machine the hydraulic actuator and the reservoir. The hydraulic circuit includes a valve assembly for controlling the flow of a working fluid between the hydraulic shock-absorber, the hydraulic machine, the hydraulic actuator and the reservoir.

A vehicle incorporates a gravity-assist energy harvesting suspension system including one or more gravitational positive displacement pumps. The positive displacement pump has a cylinder and a reciprocating piston inside the cylinder. The piston is adapted for movement along a compression stroke and an opposite extension stroke in response to a gravitational bounce of the vehicle when in motion. A turbine comprising a rotor shaft and attached blades is mounted relative to a distal end of a fluid outlet hose connected to the pump. Fluid discharged through the outlet hose acts on the blades, thereby moving and imparting rotational energy to the rotor shaft. A generator is operatively connected to the turbine, and is adapted for converting the rotational energy generated by the rotor shaft to electrical energy.

A method and apparatus for installing a fastener. A reactive structural force is generated in a first direction during installation of the fastener. A new reactive structural force is generated in a second direction opposite to the first direction during the installation of the fastener.

A method and apparatus for distributing a number of utilities. The number of utilities may be coupled between a number of utility sources and a utility fixture. The number of utilities may be coupled between the utility fixture and a mobile system.

A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.

A vehicle incorporates a gravity-assist energy harvesting suspension system including one or more gravitational positive displacement pumps. The positive displacement pump has a cylinder and a reciprocating piston inside the cylinder. The piston is adapted for movement along a compression stroke and an opposite extension stroke in response to a gravitational bounce of the vehicle when in motion. A turbine comprising a rotor shaft and attached blades is mounted relative to a distal end of a fluid outlet hose connected to the pump. Fluid discharged through the outlet hose acts on the blades, thereby moving and imparting rotational energy to the rotor shaft. A generator is operatively connected to the turbine, and is adapted for converting the rotational energy generated by the rotor shaft to electrical energy.

A roll control apparatus for a vehicle which comprises front wheel side and rear wheel side active stabilizer devices and a control unit that is configured to control the stabilizer devices, to calculate a target anti-roll moment, to determine optimum control gains of electric actuators of the stabilizer devices among pre-stored control gains based on a vehicle speed and a frequency of change in a roll angle of a vehicle body, and to control the electric actuators so that a sum of anti-roll moments generated by the front wheel side and rear wheel side active stabilizer devices becomes the target anti-roll moment and control gains of the electric actuators become the optimum control gains.