Abstract: An autonomous vehicle having sensors advantageously varied in capabilities, advantageously positioned, and advantageously impervious to environmental conditions. A system executing on the autonomous vehicle that can receive a map including, for example, substantially discontinuous surface features along with data from the sensors, create an occupancy grid based upon the map and the data, and change the configuration of the autonomous vehicle based upon the type of surface on which the autonomous vehicle navigates. The device can safely navigate surfaces and surface features, including traversing discontinuous surfaces and other obstacles.

Abstract: A pin puller combines an actuator with an anti-friction release mechanism, according to a bilaterally symmetric geometry. The anti-friction tension release mechanism ensures that only negligible friction forces need to be overcome to operate the tension release mechanism. Thus, the actuator is isolated from the large tension force that bears on the tension release mechanism. The bilateral symmetric aspect of the structure provides for mechanical redundancy, so that, in the event that one half of the pin puller fails, it is sufficient that the other half operate properly for the tension to be successfully released. This pin puller avoids premature release because it is not susceptible to static electricity or electromagnetic radiation. The pin puller also avoids generation of large shock waves due to its slow speed of operation and because of the gradual release interaction of mechanical parts within the anti-friction release mechanism.