Abstract: An inter-system transport mechanism for moving data cartridges between robotic data cartridge handling systems in an automated fashion is disclosed. Each data cartridge handling system includes a carousel-type storage mechanism for storing a plurality of data cartridges. A gripper mechanism comprising a gripper assembly, an extension axis assembly, and a vertical rail assembly is provided to transport the data cartridges to the storage mechanism and the inter-system transport mechanism.

Abstract: A method and apparatus for targeting a robotics materials handling and sequencing system having a plurality of storage bins. A targeting cassette is inserted into one or more of the stationary storage bins and a laser scanner is utilized to read an identification code on the targeting cassette. Based upon the reading of the laser scanner, the position of the targeting cassette is calculated. Additional storage locations can be calculated either by targeting the location or using an interpolation method to calculate the location of the remaining storage bins.

Abstract: A solid state data recorder employs a solid state memory to record data in the form of data words of variable length transmitted to the memory on a flexible width data bus. The memory is monitored to determine failed memory locations, and such locations are mapped out so as not to be used to store data. Bus lines are selected lines in accordance with mapped out memory locations in order to transfer the variable length data words to and from the memory. By employing the variable length data words and flexible width data bus, loss of useable recording space in the memory is very gradual, thus minimizing the amount of spare memory area required.

Abstract: A high-energy radiation survey system capable of imaging and determining the distances of, sources of incident radiation and of determining the energy of such radiation, incorporating a shaped radiation detector shield and detector configured therein for low-noise collimation of the radiation for directional mapping. The system is capable of being mounted on a remotely controllable vehicle and of being operated from an operator's station remote from radiation hazards. The system can be used to generate high resolution radiation dose maps superimposed on a real-time video image of a room or other areas in nuclear power plants and other facilities using radioactive material.

Abstract: Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement couples the motor directly to the drive shaft through a slip clutch for rapid digit positioning for light load or no load conditions on the digit, then alternatively through an oscillating sprag clutch arrangement for incrementing the drive shaft at a substantially different gear ratio for low speed, high force movement of the digit when substantial loads are encountered. High breakaway friction prevents back drive of the drive shaft without the need for braking apparatus. The motor also rotatably drives a turret in which the digit is mounted through a second slip clutch until a desired rotational position is reached.

Abstract: A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.

Abstract: A gripper for grasping articles in an automatic or semi-automatic handling system includes spring-loaded jaws. No fasteners such as screws, pins, or the like are required to hold the jaws to the gripper assembly. The jaws are moved by way of motor-driven cams. During a grip mode, the cams do not contact the jaws, and the grip is achieved by way of the springs acting against rollers contacting the outside of the jaws. A worm on the motor shaft compresses a spring to buffer the deceleration of the motor. The spring applies a moment to worm gears which mate with the worm on the motor shaft. The gear shaft of each worm gear is operatively coupled to a respective camshaft. In this manner, the cams are locked.

Abstract: An integrated system for precise measurement of time intervals wherein a high resolution and accuracy can be achieved through the implementation of an interpolation function and a self calibration function. The interpolation function scales down a relatively coarse major time base to a finer time base for the portions near the boundaries of the time interval that is being measured. The calibration function is built into the system for facilitating calibration of the interpolation function under actual operating of the system.

Abstract: A magnetic tape tracking system for a magnetic recorder/player having a crown guide roller whose orientation can be controlled to effect lateral movement of the tape. This movement is utilized to correct for deviation of the tape from its desired tape path.

Abstract: A plurality of audio messages are recorded on a multitrack tape. A digital location code is recorded on the first track followed by recording of a first audio message. The remaining tracks are recorded with digital location codes simultaneously with the recording of the first message. When a second message is to be recorded while the first message is still being recorded on the first track. Recording of the digital codes on the second track is stopped and the second audio message is recorded on the second track. When all the audio messages are recorded the tape motion is stopped.

Abstract: A robotic materials handling system for storing and handling box-like articles such as videocassettes includes a storage area containing a plurality of columns of storage bins, a vertical support shaft located adjacent the storage area and a manipulator assembly carried on the shaft. The manipulator assembly includes a plurality of gripper mechanisms which may be positioned adjacent desired storage bins. The system includes computer control circuitry for controlling the operation of the manipulator assembly and gripper mechanism to transport articles between desired locations.

Abstract: A method of forming magnetic head having beveled surface contour wherein the contour is formed by lapping at least one guide member is coupled to the body of the magnetic head to function as a guide to control the forming of the contour during the lapping procedure.

Abstract: The present invention provides for precision micropositioning of a robotic structure. The micropositioning system includes a number of angular encoders indicating the angular orientations of various robotic elements with respect to one another and optical devices measuring the actual deflection of load bearing arm portions of the robotic structure. A separate optical device may be attached to each load bearing arm of the robotic structure. The optical device includes a target to be disposed at one end of the load bearing arms and an optical detecting system to be disposed at opposing ends of the load bearing arms. The target includes a plurality of light sources generally disposed in a plane and at least one light source disposed outside the plane. The optical detecting system includes first and second linear detector arrays adjacently disposed with longitudinal axes perpendicularly oriented. Each array senses target motion along a single line parallel to its longitudinal axis.

Abstract: An automated tape cassette sequencing system includes a cassette storage library containing a plurality of columns of storage bins facing an interior space within which a cassette manipulator is located. The manipulator moves cassettes between the storage bins and tape transport units which also face the interior space. Rotary loading and unloading mechanisms are provided in openings in the housing of the library and include one or more storage bins. The mechanisms are rotatable from a first position in which the storage bins face outwardly through the openings to a second position in which the storage bins face the interior space of the library. Cassettes can be loaded and unloaded by an operator while the mechanisms are in their first position and handled by the manipulator assembly while the mechanisms are in their second position.

Abstract: A cable retractor assembly which utilizes a rotatable spool assembly for taking up slack in a cable connected between a mobile member and a stationary base member. The present invention makes use of a cable assembly which has first and second portions which are wound onto or unwound from the spool assembly at the same time to maintain a continuous cable connection between the members while avoiding loose cable in the open. A retraction assembly provide the retraction force to rotate the spool assembly to wind the slack cable.

Abstract: In a magnetic transducer of the type including a pair of opposed, generally C-shaped pole pieces positioned in facing relationship with a gap between first ends of the pole pieces, each pole piece being formed from a ferrite material and having a coil would therearound, and at least one length of conductive gap material positioned within the gap so as to shunt the magnetic lines of flux flowing through the pole pieces into a magnetic recording medium which engages the pole pieces in the area of the gap, there is disclosed an improved erase head wherein an elongate bar made from a conductive material is positioned between the pole pieces, in the cavity therebetween, parallel thereto and to the gap and spaced from the gap.

Abstract: A recording system is provided in which digital time code information is recorded interspersed on the same data track as analog audio message signals. The time codes have a unique format which enables their bit rate to be extracted while reading the code, thus enabling use of the system with tape transports having unregulated fast wind speeds. The system is placed in a fast wind mode of operation and time codes are read and compared to a preselected time code in order to locate a desired audio message for playback. The configuration of the system ensures that the playback of each message will commence only at the beginning of a message. In addition, the invention eliminates the need for a separate data track for time codes, thus increasing the signal to noise ratio of the system.

Abstract: A time lapse video recorder includes auto monitoring circuitry for ensuring that proper recordings are being made. During the time between intermittent recording of fields by the time lapse recorder, the recorder is switched to a read mode of operation and the previously recorded field is monitored. If the monitored signal is of improper amplitude or frequency, an error detector activates an alarm. The invention may also be used with non-time lapse recorders to enable the quality of a recording to be checked without requiring rewinding of tape.

Abstract: A tape cassette handling and sequencing system includes a large storage library having a plurality of storage bins and a cassette loading section for receiving cassettes to be stored in the storage bins. Tape transports are provided for playing cassettes stored in the library. A manipulator assembly moves cassettes between the loading section, storage bins and tape transports. The design facilitates the automatic sequencing of a large number of cassettes thus freeing an operator for other tasks.

Abstract: The present disclosure relates to the manufacture of instrumentation magnetic transducers of the type including a pair of opposed support brackets having opposed magnetic pole pieces therein, the pole pieces in each bracket having edge faces all lying substantially in a common plane which is common with a first surface of each of the support brackets, and a pair of tip plates, each having slots in the bottom surfaces of the tip plates being adapted to be secured to respective first surfaces of the support brackets with the pole tips engaging the edge faces of the pole pieces and with a coupling gap between the pole tips to define signal channels for cooperation with a magnetic record medium.