Abstract: A dexterous robotic apparatus includes an asymmetrical hand mechanism including only two finger components: a first independent finger and a second independent finger, and a respective first finger motor and a respective second finger motor disposed in the hand mechanism, wherein the hand mechanism is characterized by only two continuous degrees of freedom.

Abstract: A tunnel design used to convey combined or sanitary sewage during wet weather events is disclosed. The design comprises an over chamber and an under chamber in releasable coordination with each other. The over chamber comprises an open canal and the under chamber comprises a box culvert.

Abstract: A dexterous robotic apparatus includes an asymmetrical hand mechanism including only two finger components: a first independent finger and a second independent finger, and a respective first finger motor and a respective second finger motor disposed in the hand mechanism, wherein the hand mechanism is characterized by only two continuous degrees of freedom.

Abstract: A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition—releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.

Abstract: A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition—releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.

Abstract: Given an image and an aligned depth map of an object, the invention predicts the 3D location, 3D orientation and opening width or area of contact for an end of arm tooling (EOAT) without requiring a physical model.

Abstract: A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition—releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.

Abstract: A spectrophotometer including a light tube having a spectrophotometer head mounted to one end of the light tube and a diffraction grating head mounted to the opposite end. The spectrophotometer head having a bore therethrough for receiving incoming light from a light source providing a light path through the spectrophotometer head and light tube; Further, a slit is disposed in the light path and a vial of colored liquid is suspended halfway through the light path. The diffraction grating includes a bore aligned with the light path and includes a focusing lens and a diffraction grating disposed in the light path. The diffraction grating displaying a spectrum with an upper half displaying the spectrum of the light transmitted through the colored liquid and the lower half displaying the spectrum of the light source.

Abstract: Given an image and an aligned depth map of an object, the invention predicts the 3D location, 3D orientation and opening width or area of contact for an end of arm tooling (EOAT) without requiring a physical model.

Abstract: A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition-releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.

Abstract: The present invention relates to a Drop Counter for counting a succession of falling liquid drops. The Drop Counter includes a light emitting diode for providing a light beam directed to a falling liquid drop. A photo diode sensor is positioned in side-by-side relation with the light emitting diode and detects reflected light from the falling liquid drop. The photo diode sensor provides an output signal when reflected light is detected and further includes a counter for receiving the output signal and counting the number of times the output signals are received.

Abstract: An array of multiple light-emitting diodes each having a different wavelength are equally spaced around a tubular sample holder facing inwardly. A photo-diode light sensor that detects light transmitted through the sample is mounted to the tubular sample holder at a position directly opposite each light-emitting diode. By selectively turning on one of the LED's and selecting the associated photo-diode exactly opposite it, the light transmission through a solution can be ascertained. A computer is then used to plot the transmission and absorption on a graph for each of the different wavelengths. The circular array of sensors and LED's results in one sensor directly opposite each LED, one sensor off-axis on either side in the forward scatter direction, and one sensor off-axis on either side in the back scatter direction. The combination of back-scattered light and forward-scattered light and transmitted light permits measurements of the turbidity of the sample solution.