Abstract: Methods and systems to control stacked hexapod platforms for use as tools, which function with both high accuracy and high precision are provided. In some embodiments, the methods and systems include a convergence of modern control theory, and machine learning. Furthermore, some embodiments provide control algorithms to carry out autonomous in-space assembly operations using assemblers. Some embodiments provide methods and systems which combine long-reach low precision manipulators and smaller, high-precision assembler with interchangeable tools.

Abstract: A multi-rate commodity metering system comprises an electronic key containing an EEPROM, and a meter for metering the commodity and having a receptacle for receiving the key. The meter also contains a real-time clock. The key can operate as a prepayment device, a programming device and a meter-reading device. Thus the key is taken to the commodity suppliers premises, where, in return for a payment, a credit signal representative of the payment is stored in the key. At the same time, a new program for the meter, i.e. new times for switching between rates and new prices per unit of commodity for each rate, together with the date and time at which the new program is to come into operation, can also be stored in the key. Then, when the key is inserted in the receptacle in the meter, the payment signal and the new program are entered into the meter. Additionally, the current set of meter readings (i.e., the respective readings for each rate) are read into the key, along with the date and time.

Abstract: An electronic token for use with a prepayment commodity meter such as an electricity meter comprises a key-like device 10 having a head 12 containing an electronic circuit and a body portion 14 for insertion into a keyway in a receptable 40 in the meter. The body portion 14 has grooves 24 which serve to guide the body portion into the keyway, and which contain electrical contacts 28, 30 connected within the device 10 to the electronic circuit. Between the body portion 14 and the head 12, the device 10 is provided with a locating recess 27, which engages a projection 78 in the receptacle 40 when the body portion is fully inserted into the keyway. The receptacle 40 incorporates a combined shutter 98 and spring 102, which serve to close the keyway in the absence of the device 10, and to urge the body portion 12 to one side of the keyway during insertion, such that the recess 27 engages the projection 78 and the contacts 28, 30 engage contacts 68, 72 in the receptacle.