Abstract: Described herein are various embodiments of a valve that may be opened and closed using a thixotropic or “stress yield” material, or other material that temporarily changes phase upon application of energy to the material. More particularly, some embodiments may include a valve that is opened and closed using a granular gel that is a temporary phase change material.

Abstract: A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.

Abstract: A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.

Abstract: A method of determining orientation parameters of a rigid body, including: associating at least two multi-axis accelerometers with the rigid body, wherein the body has a base end, a distal end, and a line of symmetry between the base end and the distal end. The two first multi-axis accelerometers are disposed at a first point along the line of symmetry between the base end and the distal end. Each first multi-axis accelerometer is disposed at equal distances from the line of symmetry. The line of symmetry and both first multi-axis accelerometers lie in a first plane. The method further includes: associating a gyroscope with the body at the first point, equally between both first multi-axis accelerometers; gathering measured data from the two first multi-axis accelerometers and the gyroscope; and applying analysis free of calculus to determine a first inclination angle, of the body from a stable orientation.

Abstract: Various embodiments provide a ground-engaging vehicle braking assembly for a vehicle. The assembly generally comprises: a base subassembly mounted to a portion of the vehicle; a common member comprising a first portion and a second portion, the first portion of the common member being rotatably attached to the base subassembly; a first linkage subassembly comprising the first portion of the common member; and a second linkage subassembly comprising the second portion of the common member and a pad member, the pad member being configured to engage a ground surface over which the portion of the vehicle is travelling. An associated method of operating the assembly is also provided, wherein multiple modes of operation are incorporated. A system is also described, wherein at least one processor is configured to move various linkage subassemblies of the assembly based upon one or more predetermined parameters related to mode of operation.

Abstract: Various embodiments provide a ground-engaging vehicle braking assembly for a vehicle. The assembly generally comprises: a base subassembly mounted to a portion of the vehicle; a common member comprising a first portion and a second portion, the first portion of the common member being rotatably attached to the base subassembly; a first linkage subassembly comprising the first portion of the common member; and a second linkage subassembly comprising the second portion of the common member and a pad member, the pad member being configured to engage a ground surface over which the portion of the vehicle is travelling. An associated method of operating the assembly is also provided, wherein multiple modes of operation are incorporated. A system is also described, wherein at least one processor is configured to move various linkage subassemblies of the assembly based upon one or more predetermined parameters related to mode of operation.

Abstract: In one embodiment, an endoscope includes a body, an elongated shaft that extends from the body, the elongated shaft ending in a distal tip, a first anchoring device that is fixed to the elongated shaft, and a second anchoring device that is extendable from the elongated shaft. In one embodiment, an endoscope advancing apparatus includes a first anchoring device adapted to be fixed to an elongated shaft of an endoscope, and a second anchoring device adapted to be mounted to an opposite side of the elongated shaft in a manner in which the second anchoring device can be axially extended from the elongated shaft.

Abstract: Methods and apparatuses for determining a mass of a payload in a work machine. The work machine has a chassis, a cab coupled with the chassis, and a boom coupled with the cab. A first actuator is coupled with the boom and the cab and moves the boom relative to the cab. The work machine has a stick coupled with the boom, and a second actuator coupled with the stick and the boom that moves the stick relative to the boom. The work machine also has a bucket operable to receive the payload. The bucket is coupled with the stick, and a third actuator is coupled with the bucket and the stick and moves the bucket relative to the stick. A first joint angle of the boom relative to the cab is determined at at least two instances in time. A second joint angle of the stick relative to the boom is determined at at least two instances in time. A third joint angle of the bucket relative to the stick is determined at at least two instances in time.

Abstract: A hybrid robotic vehicle is provided for use in environments which are hazardous to humans, the vehicle being adapted to carry a payload for use in viewing the area or acquiring other types of sensory data. The hybrid robotic vehicle has a main body and four appendages or legs, each of which has a wheel assembly and a track assembly, and is configured to operate having three degrees-of-freedom about one vertical and two horizontal axes, the three degrees-of-freedom permitting improved capability to cross obstacle-strewn terrain, as well as to traverse inclined surfaces while maintaining the main body and its payload in an upright and level attitude.