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Methods and apparatus to create and perform drone displays are disclosed. An example drone display may include one or more drones that launch from a movable platform, land on a movable platform, or both. The drone display may follow the movable platform to provide a display to an audience that is moving with the movable platform, or that is stationary and watching as one or more movable platforms travel through an area.

The present application discloses a control methodand apparatus for an autonomous operation system, a device, and a storage medium. The method comprises: determining the position of an autonomous operation system, wherein the autonomous operation system comprises a positioning apparatus; and acquiring ionosphere parameters on the basis of the position, and controlling the autonomous operation system according to the ionosphere parameters. The ionospheric parameters are obtained, and then a device state is further determined according to the ionospheric parameters; the device state comprises meeting a positioning requirement and not meeting the positioning requirement; a device is made to merely work in the case where the positioning requirement is met, to avoid the effect of ionospheric disturbance on the autonomous operation system, thereby ensuring the accuracy and stability of system positioning; in addition, when the system meets the positioning requirement, the priority index of each corresponding task partition can be further calculated, then a working process is determined according to the priority index, and finally an autonomous operation device is controlled to work according to the working process, thereby ensuring the working accuracy of the device and improving the working efficiency of the device.

A safety device (10) for monitoring an industrial machine or plant (100) comprising an electric motor (101). The safety device (10) comprises a detection unit (11) apt to detect at least a first physical quantity related to the operation of the electric motor (101) and a second physical quantity related to the movement of the load (105), a signaling unit (13) configured to transmit a safety signal (S) generated by a processing unit (12). The processing unit (12) is configured to compare the at least two physical quantities with each other in order to detect faults or anomalies and generate the safety signal (S) based on the said comparison.

A method for controlling a kinematic system (3), in particular a robot (15) or a manipulator (14), of an automatic machine (1) for processing or packing articles (2) and comprising the steps of: determining a mechanical configuration of the kinematic system (3); define, depending on the mechanical configuration of the kinematic system (3), a cloud (CP) of points (P) representing a set of possible positions in the joint space (JS) that the kinematic system (3) can reach during the performing of the motion profile (MP); wherein each of the points (P) corresponds to a precomputed possible position (q1, q2, q3) of the kinematic system (3) in the joint space (JS); wherein each of the points (P) corresponds to at least one precomputed position (f(P)) of the kinematic system (3) in the workspace (WS); and, in use, the sequential and cyclic steps of: detecting the current position (q1a, q2a, q3a) of the at least one electric actuator (6); define, depending on the current position (q1a, q2a, q3a) of the at least one electric actuator (6), a point (PA) corresponding to said current position by using said cloud (CP) of points as a reference; computing, as direct kinematics, a respective effective position (f(q1a, q2a, q3a)) of the kinematic system (3) in the workspace (WS) due to the corresponding point (PA) defined by using said cloud (CP) of points (P) as a reference; control the kinematic system (3), by way of the control system (9), to perform said motion profile (MP) as a function of said effective position (f(q1a, q2a, q3a)) of said calculated kinematic system (3) in the workspace (WS).

A method of controlling an actuator (31) is described. The value of the current position (x actuated ) of the actuator is sensed and the value of a target position (x target ) of the actuator is received. The value of the target position is subtracted (401) from the value of the current position to calculate a positioning error value (e) of the actuator. A value of actual velocity of the positioning error (e spd ) is computed (402) based on the positioning error (e). A value of target velocity of the positioning error (e spd_tgt ) is computed (403) based on the positioning error (e) and a time parameter (T s ) indicative of a target convergence time. The value of actual velocity of the positioning error is subtracted (404) from the value of target velocity of the positioning error to calculate a deviation value of the convergence velocity of the positioning error (Spd err ). The absolute value (e abs ) of the positioning error (e) is calculated (408). If the deviation value of the convergence velocity of the positioning error is not comprised (405, 406, 407) between a lower threshold velocity value (Error spd_thrld Lo) and an upper threshold velocity value (Error spd_thrld Hi) and simultaneously the absolute value (e abs ) of the positioning error (e) is greater (409) than an error threshold value (Error thrld Lo), an enable signal (ControlFlagEn) is asserted; otherwise, the enable signal (ControlFlagEn) is deasserted. If the enable signal is asserted, the current position of the actuator is continuously controlled (342, 344, Act_Dis) to minimize, instant by instant, the positioning error (e). If the enable signal is deasserted, the current position of the actuator is maintained unchanged (345, 344, Act_Dis), instant by instant, with respect to the previous instant.