Abstract: A motion tracking sensor apparatus configured for real-time, three-dimensional angular motion tracking that can determine the absolute orientation, axis of rotation and angular speed of a body rotating about a point, which is fixed relative to the sensor, without contacting the rotating body. The sensor obtains measurements of the three-dimensional magnetic field of a dipole fixed on the body. In one embodiment, a permanent magnet is embedded in the center of the rotating body, and the time-varying magnetic field is measured as the magnet rotates, and then the instantaneous magnet orientation from the field data is determined. The apparatus is particularly suited for use with devices that are based on a sphere rotating in a cradle such as spherical motors or spherical variable transmissions.

Abstract: A three-dimensional non-contacting angular motion sensor, based on magnetometry, has been developed for velocity feedback in the ball wheel mechanism, which serves as the drivetrain for a class of omnidirectional mobile platforms. More generally, this scheme tracks rigid-body rotation about a fixed point with an undefined axis of rotation. The approach involves tracking the time-varying magnetic field of a permanent disc magnet, embedded at the center of the sphere. This data is then used to determine the absolute orientation of the magnet axis. Finally, an approach based on the natural invariants of rigid-body motion is used to determine the instantaneous axis of rotation and the angular speed of the sphere about this axis.

Abstract: Apparatus and methods for applying heated sealants, such as molten polymeric material, to surfaces such as for filling cracks in pavement surfaces. Aspects of the invention include block cutting assembly, heated dispensing hose, and crack filling applicator head. By way of example, the block cutting assembly comprises a ram device for driving sealant blocks against a heated cutting member which severs the blocks to speed liquefaction within the heated sealant chamber. An associated enclosure incorporates a loading door preferably configured for operation in response to the position of the ram device. The heated dispensing hose may comprise a heating element running through the interior of the hose to heat sealants as they pass through the hose. The crack filling applicator head comprises a dispensing tube upon which a sealing chamber is coupled for retaining a quantity of liquid sealant proximal to the pavement surface being filled.

Abstract: Apparatus and methods for applying heated sealants, such as molten polymeric material, to surfaces such as for filling cracks in pavement surfaces. Aspects of the invention include block cutting assembly, heated dispensing hose, and crack filling applicator head. By way of example, the block cutting assembly comprises a ram device for driving sealant blocks against a heated cutting member which severs the blocks to speed liquefaction within the heated sealant chamber. An associated enclosure incorporates a loading door preferably configured for operation in response to the position of the ram device. The heated dispensing hose may comprise a heating element running through the interior of the hose to heat sealants as they pass through the hose. The crack filling applicator head comprises a dispensing tube upon which a sealing chamber is coupled for retaining a quantity of liquid sealant proximal to the pavement surface being filled.

Abstract: Apparatus and methods for applying heated sealants, such as molten polymeric material, to surfaces such as for filling cracks in pavement surfaces. Aspects of the invention include block cutting assembly, heated dispensing hose, and crack filling applicator head. By way of example, the block cutting assembly comprises a ram device for driving sealant blocks against a heated cutting member which severs the blocks to speed liquefaction within the heated sealant chamber. An associated enclosure incorporates a loading door preferably configured for operation in response to the position of the ram device. The heated dispensing hose may comprise a heating element running through the interior of the hose to heat sealants as they pass through the hose. The crack filling applicator head comprises a dispensing tube upon which a sealing chamber is coupled for retaining a quantity of liquid sealant proximal to the pavement surface being filled.

Abstract: A telerobotic nozzle positioning system for a mobile debris vacuum vehicle or for fixed particulate vacuuming applications. The apparatus has a vacuum source coupled to an adjustable boom and nozzle assembly. The nozzle assembly is mounted to the boom with a compliant upper joint that will allow the nozzle assembly to withstand impacts with obstructions without shearing the nozzle assembly from the boom. A base with an extensible fly is pivotally coupled to the upper joint and can swing with respect to the joint upon actuation of a short stroke hydraulic cylinder. The distal end of the extendable fly has a nozzle bracket assembly with a nozzle bracket, flexible hose and nozzle tip. The nozzle bracket and nozzle tip can pivot with respect to the fly. A pair of long hydraulic cylinders allows the extension of the fly from the base as well as rotation of the nozzle bracket and tip.

Abstract: Apparatus and methods for applying heated sealants, such as molten polymeric material, to surfaces such as for filling cracks in pavement surfaces. Aspects of the invention include block cutting assembly, heated dispensing hose, and crack filling applicator head. By way of example, the block cutting assembly comprises a ram device for driving sealant blocks against a heated cutting member which severs the blocks to speed liquefaction within the heated sealant chamber. An associated enclosure incorporates a loading door preferably configured for operation in response to the position of the ram device. The heated dispensing hose may comprise a heating element running through the interior of the hose to heat sealants as they pass through the hose. The crack filling applicator head comprises a dispensing tube upon which a sealing chamber is coupled for retaining a quantity of liquid sealant proximal to the pavement surface being filled.

Abstract: A telerobotic nozzle positioning system for a mobile debris vacuum vehicle or for fixed particulate vacuuming applications. The apparatus has a vacuum source coupled to an adjustable boom and nozzle assembly. The nozzle assembly is mounted to the boom with a compliant upper joint that will allow the nozzle assembly to withstand impacts with obstructions without shearing the nozzle assembly from the boom. A base with an extensible fly is pivotally coupled to the upper joint and can swing with respect to the joint upon actuation of a short stroke hydraulic cylinder. The distal end of the extendable fly has a nozzle bracket assembly with a nozzle bracket, flexible hose and nozzle tip. The nozzle bracket and nozzle tip can pivot with respect to the fly. A pair of long hydraulic cylinders allows the extension of the fly from the base as well as rotation of the nozzle bracket and tip.

Abstract: An apparatus which automatically retrieves conical highway warning markers from the roadway and transports the cones to a support vehicle for storage. The apparatus, which is attached to a vehicle, comprises a clamping plate disposed at the end of a lifting arm, which clamps the base of the traffic cone onto a platform. The lifting arm then rotates to raise the cone to a position for stowage. The raised cone can then be manually removed from the lifting arm for stowage or, alternatively, dropped onto a conveyor system which transports the traffic cone to a storage area within the vehicle.