Abstract: An automatic tape tracking system for magnetic recorder/players which samples tape position and adjusts a number of active guide rollers to maintain the tape along a predetermined track. The present system uses only perfectly cylindrical rollers and requires no edge guiding. The guide rollers are adjustable in height and to change the direction of their axes. Both adjustments are effected with the use of linear stepper motors. The tape position is monitored at various locations throughout the recorder/player by cameras which monitor the position of the edge of the tape. Output signals from the cameras are fed to a microprocessor which controls the stepper motors. Height adjustments are made to instantaneously correct tape position and tilt adjustments are made to allow the guide rollers to remain, in height, in a neutral zone.

Abstract: A walking machine comprising a body, six leg frames mounted on the body for pivotal movement about six parallel, spaced axes, the axes being located at the vertices of a hexagon, each of the leg frames being mounted for pivotal movement through an angle greater than 120.degree., a leg mechanism mounted on each of the leg frames, each leg mechanism including a foot, a drive mounted on the body for controlling the pivotal movement of each of the leg frames, a drive mounted on each of the leg frames for controlling movement of each foot in a direction parallel to the axes, and a drive mounted on each of the leg frames for controlling the movement of each foot in a radial direction.

Abstract: A leg mechanism for a walking machine including a plurality of links arranged in a pantograph mechanism, which links are able to fold past each other so that the legs can tuck in close to the body, permitting a machine to which such legs are attached to have a small profile so that it can maneuver in areas that are as small as a human being can maneuver in.

Abstract: A leg mechanism and horizontal actuator therefor comprising a frame member, first, second, third and fourth elongate links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for the leg mechanism, a pair of crank arms connected to two of the links and extending approximately perpendicular to the ends thereof adjacent the main mounting point, and a drive member connected between the first and second crank arms for controlling the angle therebetween.

Abstract: A vertical actuator mechanism for the legs of a walking machine, including four links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms. Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism. The struts are connected to the pantograph mechanism at a location other than the true pantograph point, the point being selected so that the foot moves approximately linearly as the strut pivots around the drive nut.

Abstract: A continuous thru-wire welding machine for welding a conductor to a terminal comprising a stationary support, first and second elongate arms having known weights, a pair of flexible plates for pivotally connecting first ends of each of the first and second arms to the stationary support with the arms being positioned in parallel, spaced, vertically aligned relationship, an electrode housing, a pair of flexible plates for connecting second ends of the first and second arms to the housing, a first conductive electrode mounted within the housing, the terminal being positionable below the electrode, and a structure for releasably supporting the arms with the first electrode spaced from the terminal, the supporting structure being adapted to release the arms whereby the weight of the arms moves the first electrode into contact with the terminal, the weight of the arms determining the force applied by the first electrode to the terminal.

Abstract: A machine for welding a conductor to a terminal in which a pair of elongated conductive electrodes having adjacent ends are mounted for axial movement toward and away from each other on opposite sides of the terminal. The opposite ends of a cable are attached to the electrodes for moving same toward the terminal. A motor applies a tension force to the cable and a sensor operatively coupled to the cable senses the tension force therein and generates an electrical signal proportional thereto. This signal is compared to another electrical signal proportional to the desired force between the electrodes and the terminal and the difference signal is utilized to control the motor.

Abstract: A method and means for determining the amount of compressional load in an assembly of clamped elements by measuring the friction between adjacent elements in the assembly. A rotatable element is positioned between two non-rotatable elements within the assembly and the torque necessary to rotate the rotatable element is measured. By measuring or calculating the torque necessary to rotate the rotatable element with a known compressional load, the relationship between torque and compressional load can be established whereby comparison of a measured torque with the established relationship permits conversion of any measured torque to compressional load in applications where element surface coefficients of friction do not change appreciably.

Abstract: A mechanism for use with a video recorder/reproducer of the type which receives a standard video cassette for withdrawing the video tape from the cassette to prepare the tape for threading around a video scanner, for sensing tape position to provide inputs to the reel drive servo motors of independent, closed loop servo systems, and for adjusting the level of tension in the video tape during operation of the recorder/reproducer. The mechanism withdraws the tape in two diverging directions, equally from both reels. The tension level is controlled accurately and is selectively changed for different operating modes.

Abstract: In a system wherein transitions occur in a data signal encoded with a known format and transition displacements occur as a result of bandwidth limitations, noise, and the like, there is disclosed a method and means for measuring the probability density function associated with such transition displacements. Furthermore, the present system permits the measurement of conditional probability such that the probability density function associated with certain selected transitions can be separately evaluated. The probability density function associated with transition displacements is measured by measuring the average frequency of occurrence of transitions of the data within a narrow, first time interval, varying the first time interval over a larger, second time interval during which transitions of the data are expected to occur, and plotting the average frequency of occurrence of data transitions determined at each first interval.

Abstract: A turntable assembly for helically threading tape from a video cassette around a video scanner, for simultaneously threading the tape past a plurality of longitudinal magnetic heads, and for engaging the tape to a capstan drive assembly. The turntable comprises an annular ring that surrounds the scanner and longitudinal heads and provides a platform for rigidly supporting a plurality of guide posts and a pinch roller, the guide posts threading the tape around the scanner and the pinch roller engaging the tape to the capstan drive assembly. The rotational axis of the scanner is tilted relative to the cassette so that the plane of the cassette is coplanar with the entry angle of the scanner and the rotational axis of the turntable ring is tilted relative to the rotational axis of the scanner so that the plane of the ring is coplanar with the exit angle of the scanner. The turntable rotates through an angle which is greater than 360.degree.

Abstract: A loading mechanism for delivering a standard video cassette onto a pair of reel drive hubs of a video recorder/reproducer including an open shelf having a bottom, opposed side walls, and opposed top sections, the shelf being horizontally translatable under control of the cassette itself between a forward, cassette receiving position and a rearward position; means for sensing that both rear corners of the cassette have reached the rearward position and that the operator has released the cassette; means for lowering the shelf and the video cassette therein onto the reel drive hubs, the hubs extending through a pair of holes in the shelf bottom; a plurality of posts extending through holes in the shelf bottom, adjacent the four corners thereof, for contacting the bottom of the cassette in the lowered position of the shelf; means including the top shelf sections for clamping the side edges of the cassette onto the posts; and means operative when the shelf reaches the lowered position for momentarily applying a f

Abstract: A dual reel drive system for a video recorder/reproducer comprising first and second identical reel drive assemblies, each of the assemblies including a drive shaft; a motor connected to the drive shaft; a first clamping ring connected to one end of the drive shaft; a push rod mounted coaxially with the drive shaft; a second clamping ring connected to one end of the push rod, adjacent the first clamping ring; an expandable gripping ring mounted between the first and second clamping rings, the gripping ring and the second clamping ring being adapted to extend into a reel for engaging same, movement of the first and second clamping rings towards each other longitudinally compressing and laterally expanding the gripping ring into engagement with a reel mounted thereon; a spring connected between the other ends of the drive shaft and the push rod for applying a force therebetween to maintain the gripping ring in the expanded condition; and an actuating shaft and a cam member for selectably separating the clamping