Abstract: A robotic vehicle is commanded by a fiber optic cable which also delivers television camera images. In the event the vehicle is moved backwards, the creation of a slack length of cable from a storage drum is avoided by the inclusion of a take-up reel in the vehicle. Any slack cable created by backward movement of the vehicle is immediately taken up by the take-up reel so as to prevent cable snags and possible damage by virtue of backward rolling of the vehicle over the cable. During normal forward operation of the vehicle, the take-up reel allows the cable to pass through it without interference.

Abstract: A pre-tensioned shape memory actuator for providing remote actuation at relatively high loads. The actuator utilizes a two-way shape memory alloy which is pre-tensioned to a pre-tensioned position, then partially compressed to a position intermediate its original position and the pre-tensioned position so as to allow the actuator unit to then fore-shorten back to the original position when heated, and to expand back to the intermediate position when again allowed to cool. The alloy is a part of a clamping device which applies compressive force to a work object at the intermediate position under normal temperatures and releases the compressive force when heated. Upon cooling, the cycle is completed as the memory alloy reverts to the intermediate position and once again applies the compressive force to the work object.