1. A device comprising:
a conduit connectable to a raceway, wherein the conduit has a hollow body having two opened ends, wherein a permanently formed opening runs along the conduit body between the conduit body ends for the conduit body to receive a jumper from the raceway.
2. The device of claim 1 wherein:
the conduit body has multiple sides, wherein the opening runs along one of the conduit body sides.
3. The device of claim 1 wherein:
the conduit body is cylindrical shaped and has one side, wherein the opening runs along the one conduit body side.
4. The device of claim 1 wherein a jumper in the raceway has a first end, a second end, and a body connected between the jumper ends, wherein:
the opening enables the conduit body to receive a jumper from the raceway upon the jumper body being inserted through the opening without either jumper end being received by the conduit body.
5. The device of claim 4 wherein:
the jumper body is radially inserted through the opening for receipt by the conduit body.
6. The device of claim 1 wherein the conduit is a first conduit, the device further comprising:
a second conduit connected to the first conduit, wherein the second conduit has a different orientation than the first conduit, wherein the second conduit includes a hollow body having two opened ends, wherein a permanently formed opening runs along the second conduit body between the second conduit body ends for the second conduit body to receive the jumper.
7. The device of claim 6 wherein:
the opening running along the first conduit body and the opening running along the second conduit body are aligned with one another.
8. The device of claim 6 wherein:
the orientations of the first and second conduit bodies maintain a minimum jumper bend radius, wherein the radius of any bending of the portion of the jumper received by the first and second conduit bodies and which follows the orientations of the first and second conduit bodies is at least greater than the minimum jumper bend radius.
9. The device of claim 1 wherein:
the conduit is connectable to the raceway without requiring modification of the raceway.
10. A device comprising:
a conduit connectable to a raceway, wherein the conduit includes a hollow body having two opened ends, wherein the conduit body includes two side walls which are separated from one another between the conduit body ends, wherein the conduit body receives a jumper from the raceway upon the jumper being inserted through the conduit body separation into the conduit body.
11. The device of claim 10 wherein a jumper in the raceway has a first end, a second end, and a body connected between the jumper ends, wherein:
the conduit body receives a jumper from the raceway upon the jumper body being radially inserted through the separation into the conduit body without either jumper end being inserted into the conduit body.
12. The device of claim 10 wherein:
the conduit body includes horizontal and vertical orientations, wherein the portion of the jumper received by the conduit body is transitioned by the conduit body through the horizontal and vertical orientations of the conduit body.
13. The device of claim 10 wherein the conduit is a first conduit the device further comprising:
a second conduit connected to the first conduit, wherein the second conduit has a different orientation than the first conduit, wherein the second conduit includes a hollow body having two opened ends, wherein the jumper from the raceway is received by the second conduit body upon the jumper being inserted through the second conduit body separation into the second conduit body.
14. The device of claim 10 wherein:
the conduit is connectable to the raceway without requiring modification of the raceway.
15. An assembly comprising:
at least two conduits connected to one another with one of the conduits being connectable to a raceway containing jumpers, wherein each conduit includes a slit for receiving a jumper from the raceway, wherein the conduits have horizontal and vertical orientations which maintain a minimum jumper bend radius such that a jumper received by the conduit follows the horizontal and vertical orientations of the conduit while having the minimum jumper bend radius.
16. The assembly of claim 15 wherein:
the one of the conduits is connectable to the raceway without requiring modification of the raceway.
17. The assembly of claim 15 wherein:
the slits are configured to enable the conduits to receive a jumper from the raceway without either end of the jumper being received by the conduits.
18. The assembly of claim 15 wherein:
the conduits receive a jumper from the raceway upon the jumper being radially inserted into the conduits through the slits.
19. The assembly of claim 15 wherein:
the slits run axially along the conduits.
20. The assembly of claim 15 wherein:
the slits run along the longitudinally along the conduits.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
What is claimed is:
1. An unmanned helicopter for making a flight autonomously,
the unmanned helicopter comprising:
altitude control device for giving a command of a collective pitch rudder angle based on the deviation between a fed-back altitude and an altitude command and the deviation between a fed-back climb rate and a climb rate command;
position control device for performing position control based on the deviation between a fed-back position and a position command with respect to a horizontal position and the deviation between fed-back speed and a speed command;
attitude control device for performing attitude control of an airframe based on the deviation between a fed-back attitude angle and an attitude angle command; and
takeoff device, upon reception of a takeoff start command from the ground, for causing the airframe to takeoff and climbing the airframe to a first altitude while increasing the collective pitch rudder angle without performing the altitude control of the altitude control device and then causing the altitude control device to start the altitude control.
2. The unmanned helicopter as in claim 1, wherein
the takeoff device suppresses the position control and the attitude control, when climbing the airframe to the first altitude.
3. An unmanned helicopter for making a flight autonomously,
the unmanned helicopter comprising:
altitude control device for controlling a collective pitch rudder angle based on a rudder angle command calculated based on the deviation between a fed-back altitude and an altitude command and the deviation between a fed-back descent rate and a descent rate command;
position control device for performing position control based on the deviation between a fed-back position and a position command with respect to a horizontal position and the deviation between fed-back speed and a speed command;
attitude control device for performing attitude control of an airframe based on the deviation between a fed-back attitude angle and an attitude angle command; and
descending device for stepwise changing descent rate command of the altitude control device for causing the airframe to descend to a second altitude and giving a descent rate command smaller than the descent rate command to the second altitude to the altitude control device for causing the airframe to descend from the second altitude to the ground.
4. The unmanned helicopter as in claim 3, wherein
the takeoff device suppresses the position control and the attitude control, when causing the airframe to descend from the second altitude to the ground.
5. The unmanned helicopter as in claim 3, further comprising:
landing determination device for determining that the airframe lands if the rudder angle command which is less than a predetermined value continues for a predetermined time.
6. A takeoff method of an unmanned helicopter comprising:
a first climbing step of climbing to a first altitude while increasing a climb rate without performing altitude control; and
a second climbing step of climbing while performing altitude control from the first altitude.
7. The takeoff method of an unmanned helicopter as in claim 6, wherein
position control of an airframe on a horizontal plane and attitude control of the airframe are suppressed in the first climbing step.
8. A landing method of an unmanned helicopter comprising:
a first descending step of stepwise decreasing a descent rate and descending to a second altitude; and
a second descending step of descending from the second altitude to the ground at a descent rate smaller than the descent rate in the first step.
9. The landing method of an unmanned helicopter as in claim 8, wherein
position control of an airframe on a horizontal plane and attitude control of the airframe are suppressed in the second descending step.
10. A landing method of an unmanned helicopter comprising:
changing a collective pitch rudder angle based on a rudder angle command calculated based on the deviation between a fed-back altitude and an altitude command and the deviation between a fed-back altitude change rate and an altitude change rate command,
descending, and
determining that the helicopter lands, if the rudder angle command of a predetermined value or less continues for a predetermined time.