Abstract: A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

Abstract: A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.

Abstract: A surgery assisting apparatus for controlling a posture of a first surgical tool to be inserted into a body cavity and mechanically driven, by using a second surgical tool to be inserted into the body cavity, comprises: a mode switch configured to switch a first mode and a second mode, the second surgical tool being used to control the first surgical tool in the second mode; one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity; and at least one memory and at least one processor which function as a computing unit configured to determine a target position of a control point that is a point for specifying the posture of the first surgical tool in order to control the posture of the first surgical tool.

Abstract: A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

Abstract: A surgery assisting apparatus comprises: a distance measuring unit configured to measure a distance to an object in a body cavity; a hollow tube including a cylindrical portion to be partially inserted into the body cavity and a portion that performs distance measurement by the distance measuring unit, the hollow tube enabling distance measurement in a given position on a circumference at a predetermined distance from a major axis of the cylindrical portion; and a controller configured to control the position on the circumference around the major axis where the distance measuring unit performs distance measurement, such that approach of a medical instrument inserted into the body cavity to the object is sensed, wherein the controller controls the position on the circumference around the major axis in accordance with an advancing direction of a distal end of the medical instrument.

Abstract: A surgery assisting apparatus comprises: a distance measuring unit configured to measure a distance to an object in a body cavity; a hollow tube including a cylindrical portion to be partially inserted into the body cavity and a portion that performs distance measurement by the distance measuring unit, the hollow tube enabling distance measurement in a given position on a circumference at a predetermined distance from a major axis of the cylindrical portion; and a controller configured to control the position on the circumference around the major axis where the distance measuring unit performs distance measurement, such that approach of a medical instrument inserted into the body cavity to the object is sensed, wherein the controller controls the position on the circumference around the major axis in accordance with an advancing direction of a distal end of the medical instrument.

Abstract: A pipe transporter traction wheel suitable for mounting on a pipe transporter travelable along an interior surface of a pipe may include a tractor portion configured to be attached to a pipe transporter, the tractor portion having a tractor surface configured to contact an interior surface of a pipe when the pipe transporter is driven in the pipe. The tractor portion may include a harder granular material and a softer matrix material embedding the granular material. The wheel may include a hub and/or a mounting interface. A kit may be provided including one or two adapters and a wheel.

Abstract: A pipe transporter traction wheel suitable for mounting on a pipe transporter travelable along an interior surface of a pipe may include a tractor portion configured to be attached to a pipe transporter, the tractor portion having a tractor surface configured to contact an interior surface of a pipe when the pipe transporter is driven in the pipe. The tractor portion may include a harder granular material and a softer matrix material embedding the granular material. The wheel may include a hub and/or a mounting interface. A kit may be provided including one or two adapters and a wheel.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.

Abstract: A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.

Abstract: A surgery assisting apparatus for controlling a posture of a first surgical tool to be inserted into a body cavity and mechanically driven, by using a second surgical tool to be inserted into the body cavity, comprises: a mode switch configured to switch a first mode and a second mode, the second surgical tool being used to control the first surgical tool in the second mode; one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity; and at least one memory and at least one processor which function as a computing unit configured to determine a target position of a control point that is a point for specifying the posture of the first surgical tool in order to control the posture of the first surgical tool.

Abstract: The present invention provides a tire with retractable studs. A stud retraction control mechanism can manipulate the protraction or retraction state of a tire stud within the tire. The stud retraction control mechanism may be accessed and controlled by a vehicle user who may decide to retract or protract studs within the tire to suit vehicle use conditions.

Abstract: A method and apparatus utilizing a new parameter for assessing battery charge acceptance for controlling the charging process of the battery. The charge acceptance parameter comprises a terminal voltage profile which is determined during a variation in a diagnostic current. The slope of the terminal voltage profile is used in the charging process to assess the charge acceptance ability of the battery and thereby control the charging current. For a first group of batteries including lead-acid and nickel-cadmium batteries, the terminal voltage profile is characterized by an increasing profile slope as the charge acceptance ability of the battery is reached. For a second group of batteries comprising nickel-metal hydride batteries, the terminal voltage profile is characterized by a profile slope which approaches zero as the charge acceptance ability of the battery is reached.

Abstract: A battery pack and method for connecting battery modules to optimize current sharing and charging of the modules. The battery pack comprises a number of battery modules, each module having respective positive and negative terminals. Interconnecting cables are provided for connecting the respective positive terminals and the respective negative terminals. The interconnecting cables have equal electrical lengths so that the Ohmic resistance is the same for the cables. The battery modules are also arranged in close proximity to form an isothermal zone.

Abstract: An apparatus for testing watertightness of a railcar comprises a blower fan apparatus with an exhaust duct and an exhaust outlet that can be sealed against an aperture in the railcar. The fan blower of the apparatus is capable of providing an airflow to the railcar to provide a pressure differential of between about 0.5 to about 2.5 inches of H.sub.2 O between an interior of the railcar and an exterior of the railcar. The blower is operated to provide air to the railcar to provide a pressure differential, causing bubbles to form in a liquid solution applied to the exterior surface of the railcar. The railcar is marked for subsequent repair at locations where bubbles are detected.

Abstract: A method and apparatus for testing watertightness of a railcar comprises a blower fan apparatus with an exhaust duct and an exhaust outlet that can be sealed against an aperture in the railcar. The fan blower of the apparatus is capable of providing an airflow to the railcar to provide a pressure differential of between about 0.5 to about 2.5 inches of H.sub.2 O between an interior of the railcar and an exterior of the railcar. The blower is operated to provide air to the railcar to provide a pressure differential, causing bubbles to form in a liquid solution applied to the exterior surface of the railcar. The railcar is marked for subsequent repair at locations where bubbles are detected.

Abstract: A long chain battery, particularly for an electric vehicle, comprises a plurality of series connected cells or battery modules. To control the operation of the electrical functions, including discharge while the vehicle is being driven, charging when it is at a charging station, or regenerative charging during braking, a main control module and a plurality of battery monitoring modules are provided. The electric motor and a traction controller therefor are connected in series across the long chain battery, and other vehicle electrical loads are in parallel with the motor and controller. Each battery monitoring module will monitor a number of batteries, and the current carrying wire between them, so that incipient problems may be detected before failure or significant damage occurs. A serial communications bus is provided between the main control module and the battery monitoring modules, and data transmitted over that bus is generally digitally encoded.

Abstract: A charger for charging a rechargeable battery. The charger comprising a circuit for producing a charging current having a variable level and a control circuit for controlling the charging current. During a first charging period the current is maintained at a level to rapidly charge the battery at a rate in amperes which is greater than the capacity of the battery in ampere-hours. The controller includes means for interrupting the charging current for a predetermined interruption interval. During the interruption interval, the charging current is maintained at a non-zero value. The controller also includes means for determining a resistance free voltage for the battery. During a subsequent charging period, the charging current is controlled in response to the value of the resistance free voltage.