Abstract: A master robotic system for translating a force at a slave robotic system to the master robotic system comprises a plurality of master brake joints rotatably coupling a plurality of robotic links. Each master brake joint corresponds to a respective slave joint of a slave robotic system. Each master brake joint comprises a first braking component (e.g., sheet disk(s)) coupled to a first robotic link and a second braking component (e.g., sheet disk(s)) coupled to a second robotic link, and an actuator operable to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a sensed force sensed by the slave robotic system. The actuator can comprise a bi-directional actuator, or a cam, piezoelectric, dielectric, or hydraulic actuator, each having minimal power requirements to maximize the braking force of the master brake joint.

Abstract: A condensate drain apparatus including a valve for controlling discharge of condensate from the condensate drain apparatus; a collection chamber configured to receive a multiphase fluid flow upstream of the valve including gaseous and condensate phases, the collection chamber defining a collection volume for collecting the condensate to be discharged through the valve; sensor equipment for monitoring a parameter relating to a thermodynamic property of the fluid upstream of the valve; a controller configured to monitor the condensate collected in the collection chamber based on the monitored parameter, and to control the opening and closing of the valve to regulate the condensate collected in the collection chamber upstream of the valve; wherein the controller is further configured to determine the quantity of condensate discharged from the collection volume using a flow rate calculation for a choked flow of vaporizing liquid.

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device.

Abstract: A clutched joint module of a robotic system comprising an output member operable to couple to a first support member; an input member operable to couple to a second support member; a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module; a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator operable in an engaged state or a disengaged state to actuate and deactivate the quasi-passive elastic actuator and to facilitate application or removal of the augmented torque.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A legged robotic device is disclosed. The legged robotic device can include a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. The legged robotic device can also include a primary drive actuator operable to apply a force or a torque to the support members in a first of the plurality of degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or a torque to the support members in a second of the plurality of degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in the gait-like motion. The mechanism can be dynamically modified by actuating the second actuator.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: A rapidly modulated hydraulic supply is disclosed. The rapidly modulated hydraulic supply can include a chamber for receiving fluid. The rapidly modulated hydraulic supply can also include a displacement member operable to displace the fluid from the chamber. In addition, the rapidly modulated hydraulic supply can include a flow modulation system operable to vary the flow rate of the fluid output from the chamber. A first flow rate corresponds to a first output pressure, and is different from a second flow rate corresponding to a second output pressure for a like movement of the displacement member.

Abstract: An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.

Abstract: A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.

Abstract: There is disclosed a condensate drain, comprising: a body defining a drain chamber having a liquid-gas inlet and a liquid outlet; and a porous membrane having a pore size of about 0.2 ?m or less disposed within the body between the liquid-gas inlet and the liquid outlet; wherein in use, the porous membrane permits liquid to pass therethrough but restricts the passage of gas.

Abstract: A pumping apparatus for a heat engine, includes an extraction line arranged to extract a fraction of liquid working fluid from a working circuit of a heat engine; an extraction line pump for pumping the extracted working fluid; an extraction line heat exchanger for vaporising the extracted working fluid; and a pressure-operated pump for pumping the working fluid around the working circuit, wherein the extraction line pump and the extraction line heat exchanger are arranged in series to convert the liquid working fluid to a pressurised motive gas; and wherein the pump is driven by the pressurized motive gas.

Abstract: A rotary actuation mechanism comprising an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.

Abstract: A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.

Abstract: There is disclosed a steam oven installation, that in certain embodiments, comprises: a steam oven; a supply steam line for receive a superheated steam flow and for delivering supply steam to the steam oven; an injector for injecting a volume of control fluid into the supply steam line; a monitor for monitoring at least one thermodynamic property of steam within the steam oven installation; and a controller for controlling the injection of the control fluid based on the at least one monitored thermodynamic property so that the supply steam flow delivered into the steam oven comprises substantially dry saturated steam. There is also disclosed a corresponding method of controlling the supply of steam to a steam oven in a steam oven installation.

Abstract: The invention relates to a monitoring apparatus for a steam plant, the apparatus comprising: a sensor unit (110) associated with a component of the steam plant, the sensor unit (110) being configured to provide an output indicative of the operating condition of the component; wherein the sensor unit (110) has a plurality of operating modes, each operating mode having a different resource usage; the apparatus further comprising: a selector (130) for selecting one of the plurality of operating modes; wherein the operating mode is chosen based on a current operating condition of the steam plant. The invention also relates to a method of operating such an apparatus.

Abstract: System and methods for determining a non-condensable gas parameter relating to the amount of non-condensable gas within a variable flow rate fluid flow containing both non-condensable gas and condensate are disclosed. An apparatus may include a measurement tube for receiving the fluid flow and arranged such that the fluid flow through the measurement tube comprises alternating sections of non-condensable gas and condensate; a flow sensor for generating a flow rate signal relating to the flow rate of the fluid flow in the measurement tube; a phase sensor for monitoring over time the alternating sections of non-condensable gas and condensate flowing through the measurement tube and arranged generates a phase signal characteristic of the said sections monitored; and a non-condensable gas determining unit configured to determine a non-condensable gas parameter relating to the amount of non-condensable gas in the fluid flow based on the flow rate signal and phase signal.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: There is disclosed a flange fitting for a pipe comprising: a flange ring for locating around the pipe and having a plurality of angularly spaced fixing holes; and a retaining ring for locating around the pipe within a groove in the outer surface thereof which in use restricts axial movement of the flange ring on the pipe; wherein the retaining ring has a plurality of angularly spaced reduced-profile sectors in regions corresponding to the positions of the fixing holes.

Abstract: A hand control device for controlling a peripheral system is disclosed. The hand control device can include a handle configured to be grasped by a user. The handle can comprise a body portion to be supported against a palm of the user. The hand control device can also include a finger control supported about the handle and comprising a rotatable joint to facilitate control based on flexion/extension of an index finger of the user. In addition, the hand control device can include a thumb control supported about the handle and comprising first and second rotatable joints to facilitate control based on flexion/extension and abduction/adduction of a thumb of the user.