Abstract: Methods, systems, and techniques for automatically determining jet orientation parameters to correct for potential deviations in three dimensional part cutting are provided. Example embodiments provide an Adaptive Vector Control System (AVCS), which automatically determines speeds and orientation parameters of a cutting jet to attempt to insure that a part will be cut within prescribed tolerances where possible. In one embodiment, the AVCS determines the tilt and swivel of a cutting head by mathematical predictive models that examine the cutting front for each of “m” hypothetical layers in a desired part, to better predict whether the part will be within tolerances, and to determine what corrective angles are needed to correct for deviations due to drag, radial deflection, and/or taper.

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.