A hull behavior control system includes a memory and at least one controller coupled to the memory. The at least one controller is configured or programmed to control a propulsion force of the marine vessel using a propeller of the marine vessel, obtain a water surface shape around the marine vessel, estimate movement of a wave based on the water surface shape, and reduce the propulsion force by controlling the propeller when it is determined that an impact force equal to or greater than a threshold value will act on the hull after the hull travels over the wave whose movement has been estimated.

Performance anomalies in complex systems can be difficult to identify and diagnose. In an example, CPU-usage associated with one or more of the systems can be determined. An anomalous event can be determined based on the determined CPU-usage. In some examples, based at least in part on determining the event, the system may be controlled in a safe state and/or reconfigured to obviate the anomalous event.

A crash detection device for mounting on a flying object having a parachute or paraglider deployment device. The crash detection device includes a sensor for measuring a parameter related to a flying state of the flying object. The sensor is configured for acquiring data of the parameter in a normal mode in which the data is acquired at a sampling frequency of less than 1 kHz, and in an abnormal mode in which the data is acquired at the sampling frequency of 1 kHz or more. The crash detection device further includes a detector coupled to the sensor and configured for verifying proper operation of the sensor; and a controller configured for receiving from the sensor values of the parameter and for determining flying state of the flying object.

The present disclosure provides a mobile robot. The mobile robot includes a body, a pair of spin mops rotatably mounted to the body, a mop motor configured to provide a driving force to the pair of spin mops, an optical flow sensor configured to obtain bottom-view image information using light at a regular time interval, and a controller configured to determine whether the material of the floor is a troublesome material based on the bottom-view image information sensed by the optical flow sensor and to control, upon determining that the material of the floor is a troublesome material, the mop motor to perform an entry restriction operation.

A method for operating a materials handling vehicle is provided comprising: monitoring, by a controller, a first vehicle drive parameter corresponding to a first direction of travel of the vehicle during a first manual operation of the vehicle by an operator and concurrently monitoring, by the controller, a second vehicle drive parameter corresponding to a second direction different from the first direction of travel during the first manual operation of the vehicle by an operator. The controller receives, after the first manual operation of the vehicle, a request to implement a first semi-automated driving operation. Based on the first and second monitored vehicle drive parameters during the first manual operation, the controller controls implementation of the first semi-automated driving operation.

The present application provides an anti-saturation control method and device for an unmanned aerial vehicle based on lead correction, where the method includes determining a first rotational speed of a plurality of actuators of the unmanned aerial vehicle from a pre-set lead correction algorithm; re-determining, when the first rotational speed satisfies a saturation limit condition, the first rotational speed satisfying the saturation limit condition as a second rotational speed in a critical saturation state; calculating an anti-saturation acceleration corresponding to the second rotational speed from the lead correction algorithm; and controlling the unmanned aerial vehicle to fly according to the anti-saturation acceleration. In the above scheme, the lag effect and command saturation of the actuator are taken into account simultaneously, and the lead correction algorithm is combined with the anti-saturation processing organically, so that the anti-saturation acceleration can be restored after undergoing an actuator allocation link and a lead correction link, and the anti-saturation allocation of the actuator with different lag effect can also be processed, so as to improve the flight accuracy of the unmanned aerial vehicle.

The present application provides an anti-saturation control method and device for an unmanned aerial vehicle based on lead correction, where the method includes determining a first rotational speed of a plurality of actuators of the unmanned aerial vehicle from a pre-set lead correction algorithm; re-determining, when the first rotational speed satisfies a saturation limit condition, the first rotational speed satisfying the saturation limit condition as a second rotational speed in a critical saturation state; calculating an anti-saturation acceleration corresponding to the second rotational speed from the lead correction algorithm; and controlling the unmanned aerial vehicle to fly according to the anti-saturation acceleration. In the above scheme, the lag effect and command saturation of the actuator are taken into account simultaneously, and the lead correction algorithm is combined with the anti-saturation processing organically, so that the anti-saturation acceleration can be restored after undergoing an actuator allocation link and a lead correction link, and the anti-saturation allocation of the actuator with different lag effect can also be processed, so as to improve the flight accuracy of the unmanned aerial vehicle.

A method for generating a trajectory to control movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) generating a sequence of one or more trajectory segments based on the at least one jerk constraint. The generating includes applying a velocity transition algorithm including moving the magnitude of a velocity reference of the trajectory segments in a given time to a desired final velocity reference, the difference between the desired final velocity reference and the velocity reference defining a velocity delta. The velocity transition algorithm includes computing a peak acceleration having a magnitude being a function of the velocity delta.

A system of warehouse orchestration for inventory picking and fulfilment comprising a controller configured to receive order information from warehouse management system (WMS), allocate and distribute a plurality of orders across a plurality of virtual pick zones based on real-time or near real-time demand, pick capacity and received order information. Cause first autonomous mobile robot to move to first virtual pick zone of plurality of virtual pick zones, communicate guidance instruction to first operator to guide first operator to be available at first virtual pick zone and determine pallet loading pattern indicative of distribution of plurality of inventory items in one or more cases and stacking of the one or more cases in one or more layers based on a set of criteria and communicate pick instruction to first operator to pick one or more inventory items and place onto the pallet of the first autonomous mobile robot.

A system of warehouse orchestration for inventory picking and fulfilment comprising a controller configured to receive order information from warehouse management system (WMS), allocate and distribute a plurality of orders across a plurality of virtual pick zones based on real-time or near real-time demand, pick capacity and received order information. Cause first autonomous mobile robot to move to first virtual pick zone of plurality of virtual pick zones, communicate guidance instruction to first operator to guide first operator to be available at first virtual pick zone and determine pallet loading pattern indicative of distribution of plurality of inventory items in one or more cases and stacking of the one or more cases in one or more layers based on a set of criteria and communicate pick instruction to first operator to pick one or more inventory items and place onto the pallet of the first autonomous mobile robot.