Abstract: A concentric tube steerable device includes a plurality of tubes having a nested, concentric configuration. The tubes include an outer tube and an inner tube that extends coaxially within the outer tube. The inner tube terminates at a tip, and a pose of the tip is effectuated through individual or collective rotation or translation of the tubes about a tube axis. The concentric tube steerable device includes an actuator for rotating at least one tube about a respective tube axis, and a translator for translating at least one tube along a respective tube axis. Each tube includes a precurved portion and a corresponding axis of precurvature. For at least one tube, a flexural rigidity of the tube along its axis of precurvature is less than a flexural rigidity of the tube along a second axis that is perpendicular to the axis of precurvature, thereby improving stability of the tube.

Abstract: A soft actuator includes an origami structure with an inflatable hollow body formed from at least one of Dyneema fabric or Kevlar fabric, and a plurality of TCPAs formed from at least one of polyethylene terephthalate, spandex, and nylon. The soft actuator also includes a plurality of heating wires disposed on the plurality of TCPAs and a controller configured to selectively heat the plurality of heating wires such that the plurality of TCPAs are selectively actuated by being heated by the plurality of heating wires.

Abstract: A bioprinter for manufacturing an organomimetic device includes at least one extruder configured to extrude a material, a three-dimensional movement assembly, and a build-plate mounted to the three-dimensional movement assembly. The build-plate may be configured to support the organomimetic device being manufactured. The bioprinter may further include a controller operably coupled to and configured to control the at least one extruder, the three-dimensional movement assembly, and the build-plate. The at least one extruder may be non-movably fixed to the cabinet.

Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

Abstract: A robot includes a movable unit displaced in horizontal directions and having a recessed part opening upward in a vertical direction, a connector placed within the recessed part, and a drain part that communicates between a bottom portion of the recessed part and an outside of the movable unit and drains a liquid within the recessed part out of the recessed part.

Abstract: An electrohydraulic device includes an extender which is arranged to be actuated by hydraulic fluid, and a rotor of an electric motor, the rotor being arranged to rotate about a part of the extender. The rotor may have an annular body which encircles or surrounds part of the extender. There is also described a related method of use and a marine vessel or platform where the device may be applied.

Abstract: Provided is a hydraulic actuator with improved durability, the hydraulic actuator (10), having an actuator main body (100) constituted of a cylindrical tube (110) capable of expanding/contracting by hydraulic pressure and a cylindrical sleeve (120) formed by cords (121) woven to be disposed in predetermined directions, wherein: the average angle (?1) formed by the cords (121) with respect to the axis direction (DAX) of the actuator with no load and no pressure applied thereon is in a range of ?20° and <45°; and in a state where the average angle (?3) formed by the cords (121) with respect to the axis direction (DAX) is 45° under hydraulic pressure of 5 MPa, a ratio (S2/S1) of the total area (S2) of clearances (122) between the cords (121) with respect to an area (S1) of an outer peripheral surface of the actuator main body (100) is 35% or less.

Abstract: An actuator includes a base to which first and second fluid couplings are fixed, a rotation member rotatably supported by the base, and McKibben-type first and second artificial muscles wound around the rotation member. The first and second artificial muscles are arranged in an antagonistic manner. One ends of the first and second artificial muscles are fixed to the rotation member. The other ends of the first and second artificial muscles are respectively connected to the first and second fluid couplings.

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator or body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract: One example of an actuation system includes a pneumatic muscle connected to a component to be actuated. The system also includes an actuation member connected in series to the pneumatic muscle and valve connected to the pneumatic muscle to control a pressure in the pneumatic muscle. The system also includes a positioning mechanism connected to the component to control a movement of the component and a controller connected to the pneumatic muscle, the valve, and the positioning mechanism, the controller to control actuation of the component by controlling the pressure in the pneumatic muscle.

Abstract: A compensated actuator, in various embodiments, comprises a base and an electric actuator and a fluid actuator interconnected to cooperatively allow for movement of an upper deck frame to which one or more compensated actuators are connected with or without using a pivoting connector. When so connected, a predetermined set of compensated actuators are connected to the upper deck frame and a platform intermediate the upper deck frame and the platform in a predetermined pattern and linear forces from the electric actuator and fluid actuator combined to impart rotation to an output attachment point.

Abstract: A rotary actuator includes a housing having an interior boundary that defines a central bore and has interior recesses, a chamber housing assembly disposed in the central bore and having an arcuate chamber, the arcuate chamber comprising a cavity, an exterior boundary of the chamber housing assembly having exterior recesses, each of the exterior recesses aligned with a respective one of the interior recesses, pins residing between the interior boundary and the exterior boundary, each of the pins mated to one of the exterior recesses and a corresponding one of the interior recesses to maintain an orientation of the chamber housing assembly with respect to the housing, a rotor assembly rotatably journaled in the chamber housing assembly and comprising a rotary output shaft and a rotor arm, and an arcuate-shaped piston disposed in the chamber housing assembly for reciprocal movement in the arcuate chamber.

Abstract: A linear actuator suitable for mobilizing a load comprises: a leg linked to the load by one of its ends with a ball joint with three degrees of freedom in rotation; a plate that is mobile in translation along an axis belonging to a plane of a support of the actuator, said mobile plate being mechanically linked to the leg by its other end. The linear actuator also comprises at least one first elastic cable, fixed by one of its ends to the mobile plate, and fixed by its other end to the support, being engaged in a first pulley fixed to the support. The actuator can notably be used to mobilize a simulation platform mounted on a hexapod.

Abstract: Provided is a robot hand capable of reducing the load moment applied on the wrist of the robot hand in lifting an article. The robot hand includes a base; a first hand arm mounted on the base, including a holding part configured to hold the article, and configured such that the holding part is movable between a first distal position away from the base in a first direction, and a first proximal position close to the base more than the first distal position; and a second hand arm mounted on the base, including a counter balancer weight, and configured such that the counter balancer weight is movable between a second distal position away from the base in a second direction opposite to the first direction, and a second proximal position close to the base more than the second distal position.

Abstract: A balance having at least one adjusting device (2, . . . ) having a drive, wherein the drive of the adjusting device is configured as a fluidic drive (4, . . . ), to which pressure can be applied by a pressure source disposed outside the scales via a pressure connection.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: The invention concerns a fluidically operable manipulator made up of several manipulator segments stacked along an extension curve, each comprising at least one connecting plate and at least two fluidically separated fluid chambers spaced apart on the connecting plate at right-angles to the extension curve, wherein each of the fluid chambers has at least one elastically deformable wall section which is designed to make possible, on pressurization of the respective fluid chamber with a fluid, a change in volume of the fluid chamber for a linear movement substantially parallel to the extension curve, and wherein a main extension surface of the connecting plate is provided for an arrangement at least substantially at right-angles to the extension curve, wherein the two or more fluid chambers are made integral with the connecting plate or plates.

Abstract: The manipulator comprises a supporting device (11) having an assembly (13) rotatable about a vertical axis and an articulated parallelogram (21) with a swing arm (24). A pneumatic linear actuator (22), acts between the rotatable assembly (13) and the articulated parallelogram (21), for causing the arm (24) to rotate about a horizontal axis of oscillation. A slide (23) is connected to the actuator (22) and slidably mounted on the rotatable assembly (13) by means of a first vertical guide (30). The slide has a second horizontal guide (31) in which is engaged an element (32, 33) mounted on the swing arm (24).

Abstract: There is provided a control apparatus for a drive mechanism driven by a pneumatic artificial muscle, the control apparatus including a pressure controller that controls pressure of the pneumatic artificial muscle, a desired pressure calculator that calculates, based on a pneumatic artificial muscle model, a desired pressure of the pneumatic artificial muscle in order to control motion of the drive mechanism, a pneumatic artificial muscle model error estimator that estimates aging variation in a contraction percentage error between the pneumatic artificial muscle and the pneumatic artificial muscle model, a pneumatic artificial muscle model updater that updates the pneumatic artificial muscle model so as to reflect the aging variation based on an estimation result of the pneumatic artificial muscle model error estimator, and a lifetime predictor that predicts a lifetime of the pneumatic artificial muscle based on the estimation result of the pneumatic artificial muscle model error estimator.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: A method, system and apparatus including a mechanism capable of performing a variety of operations, each operation having a respective power requirement and a power source capable of providing power to the mechanism at a variety of different levels corresponding to the operations being undertaken by the mechanism where the power source is regulated to at least provide a first lower power level sufficient for one or more operations requiring a lower power level and is increased to provide a higher power level as needed for one or more alternative operations requiring a higher power level.

Abstract: The present disclosure is directed to a system and method for managing communications with robots. In some implementations, a computer network, where operators interface with the network to control movement of robots on a wireless computer network includes a network arena controller and a plurality of robot controllers. The network arena controller is configured to provide firewall policies to substantially secure communication between robot controllers and the associated robots. Each controller is included in a different robot and configured to wirelessly communicate with the network arena controller. Each robot controller executes firewall policies to substantially secure wireless communication.

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: A hexapod platform and a jack that can be used in the hexapod platform are provided. The jack includes a body, a piston capable of translational movement with respect to the body and a rod connected to the piston to follow its translational movement and by means of which the jack applies load. The rod is connected to the piston by means of a ball joint. The hexapod platform comprises six jacks according to the invention.

Abstract: An articulated structure having a tubular inflatable casing that contains a fluid under pressure and that has a central axis along which there are defined at least one fixed-geometry segment and at least one variable-geometry segment, the arm including a deformation mechanism for deforming the variable-geometry segment, the casing and the deformation mechanism arranged so as to generate curvature of the variable-geometry segment in such a manner that the variable-geometry segment conserves a volume that is substantially constant. A robot arm including such a structure.

Abstract: An industrial robot comprises an arm which includes a proximal portion rotatably supported on a horizontal rotation shaft of a frame in a cantilever state, a cylindrical case portion formed from the proximal portion side to a distal end of the arm to have an opening portion on the proximal portion side, and an arm distal end portion. The industrial robot also comprises a balancer device which includes a rod, and a cylinder 3a in which the rod is reciprocated. An engagement portion at a distal end of the rod, and a rear end of the cylinder are rotatably supported between a pair of first support portions of the frame, and between a pair of second support portions inside the cylindrical case portion, respectively, so that the cylindrical case portion and the balancer device do not interfere with each other in an extent of rotation of the arm.

Abstract: The present invention provides an automated steering wheel leveling system and method. Particularly, the automated steering wheel leveling system includes a machine vision, a plurality of motor cylinders, a motor, and a robot, each operated by a process PC. The machine vision photographs a steering wheel to obtain position information of the steering wheel and determines a stroke of a motor cylinder and a grip position of a gripper using the position information. The plurality of motor cylinders move a plurality of grippers to steering wheel to secure the steering wheel. The motor rotates the steering wheel in order to adjust a zero-point of the steering wheel. The robot then moves the machine vision, the motor cylinder, and the motor to the steering wheel to align a shaft of the servo motor with a shaft of the steering wheel.

Abstract: A robotic musculo-skeletal jointed structure comprising: (a) first and second joint parts coupled together for relative angular movement about a hinge axis there between; (b) an air muscle; (c) spaced first and second attachment sites, being sites respectively located at said joint first and second parts, and about which the tubular braiding, at least, of said air muscle extends to form an endless loop; (d) first and second attachment means respectively located at said first and second air muscle spaced attachment sites, said first attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint first part at said first attachment site, and said second attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint second part at said second attachment site, the endless tubular braiding being thereby partitioned into first and second tubular braiding segments contiguous with one another a

Abstract: An apparatus and a method for controlling at least one machine, such as an industrial robot, having drives, safety peripheral components and a controller for a machine, and also having a safety controller. In this arrangement, the safety controller has superordinate access over the respective machine controller both to the machine drives and to the safety peripherals. This achieves the most easily configurable integration of the safety control loop into the operating control loops.

Abstract: A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.

Abstract: The invention relates to a foot and a humanoid robot having the foot. The invention is of particular utility in the production of humanoid robots coming as close as possible to the human morphology. According to the invention, the foot includes: a sole, toes, a motorized connection, independent of the ankle, in rotation between the sole and the toes, the toes being able to move on an angular travel about an axis of the connection, an actuator allowing the connection to be motorized, and means for controlling the actuator in a standalone manner.

Abstract: A rotary actuator mechanism for applying torque to a shaft and comprising an actuator housing forming an actuator path that includes an actuator pinion rotatably supported in said housing and having said shaft secured thereto. The pinion having peripheral notches of a selected shape and positioned within the actuator path. The mechanism having a train of discrete actuator elements having opposite ends and positioned in the actuator path, each of the actuator elements being of said selected shape to enable reception in the peripheral notches, a plurality of the elements engaging the notches. The mechanism having at least one linear actuator supported by the housing and engaging one of the ends of the train of actuator elements, the linear actuator being selectively activated to push the train of discrete actuator elements through the actuator path to thereby serially engage the actuator elements with the notches of the pinion and thereby apply torque to the shaft.

Abstract: A pipe handling apparatus has a boom pivotally movable between a first position and a second position, a riser assembly pivotally connected to the boom, an arm pivotally connected at one end to the first portion of the riser assembly and extending outwardly therefrom, a gripper affixed to an opposite end of the arm suitable for gripping a diameter of the pipe, a link pivotally connected to the riser assembly and pivotable so as to move relative to the movement of the boom between the first and second positions, and a brace having a one end pivotally connected to the boom and an opposite end pivotally connected to the arm between the ends of the arm. The riser assembly has a first portion extending outwardly at an obtuse angle with respect to the second portion.

Abstract: A flexible wrist-type element and methods of operation thereof, including variations having an angularly moveable hub housing a rotatable and operable end effector driven via a drive train having one or more universal-type joints and/or other flexible couplings moveable via an input mechanism within a housing.

Abstract: A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint.

Abstract: A vertical articulated robot includes a base; a turning base provided on the base so as to be pivotable about a first rotation axis; a first upper arm provided on the turning base so as to be turnable about a second rotation axis that is in a plane perpendicular to the first rotation axis; a second upper arm provided on a distal end portion of the first upper arm so as to be pivotable about a third rotation axis that is perpendicular to the second rotation axis; a front arm provided on a distal end portion of the second upper arm so as to be turnable about a fourth rotation axis that is in a plane perpendicular to the third rotation axis; and a wrist assembly mounted on a distal end portion of the front arm. A motor that rotates the second upper arm is mounted on a frame of the second upper arm.

Abstract: The invention relates to a tubular handling apparatus for moving tubulars between a substantially horizontal transfer station and a second transfer station. The apparatus comprises a base and a boom, rotatable with respect to the base between a lowered position and a raised position by boom rotation drive means in a boom rotation direction around a horizontal boom rotation axis. Furthermore, the apparatus comprises a gripper, rotatably attached to the boom and adapted for gripping the tubular, which gripper is rotatable about a gripper rotation axis by a gripper rotation drive means in a gripper rotation direction. According to the invention, the gripper rotation axis is parallel to and spaced from the horizontal boom rotation axis and in that the gripper rotation drive means provide a gripper rotation direction opposite to the boom rotation direction.

Abstract: A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.

Abstract: A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint.

Abstract: It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load.

Abstract: A module for the manufacturing of automated moving structures, comprising a first substantially plate-like element and a second substantially plate-like element, which face each other and are mutually articulated so that they can oscillate by way of the interposition of hinge elements and elements for actuating the relative oscillation of the first and second substantially plate-like elements, the automated moving modular structure comprising two or more modules arranged in series to each other, the second substantially plate-like element of each module coinciding with the first substantially plate-like element of the module that follows it.

Abstract: Portable robot for carrying out the drilling process in the assembly of aeronautical components which are secured on a support known as a stand. The robot comprises a displaceable platform in order to permit it to be located close to the stand, and an arm, which supports a frame comprising a beam intended to support a drilling head that can be displaced in the three axes.

Abstract: A system for handling vehicle frames. The system includes a conveyor assembly including a loading end and an unloading end, and the conveyor assembly carries a plurality of vehicle frames thereon. The system also includes a frame transfer assembly disposed at the unloading end of the conveyor assembly. The frame transfer assembly may be adapted to grasp a vehicle frame from the conveyor assembly and transfer the vehicle frame from the conveyor assembly. A vehicle frame inversion system is also provided that includes a first robotic inversion device that may include a first clamping system, and a second robotic inversion device that may include a second clamping system. The first and second clamping systems are adapted to grasp a vehicle frame, and the first and second robotic inversion devices are adapted to lift and invert the vehicle frame.

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: Apparatus for a dual powered actuator system. The system comprises a support member supporting an article in movement along a first direction and a second direction. A precision actuator is coupled with the support member and responsive to an input signal to selectively move the support member. A fluid actuator is also coupled with the support member to selectively move the support member. An active fluid regulator provides a first pressure to the fluid actuator in the first direction of the support member and a second pressure to the fluid actuator in the second direction of the support member, wherein the first and second pressures are different. A controller activates the active fluid regulator and the precision actuator.

Abstract: A robot with an edge detector and two operating modes. The first operating mode is a remote control mode. The second operating mode is a processor controlled mode.