Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: Self-leveling inspection system methods and devices for use in inspecting buried pipes or other cavities are disclosed. The system includes a camera head with an image sensor, an orientation sensor, and a signal processing module including a processing programmed to receive an image from the image sensor, and an orientation signal from the orientation sensor, generate a second image based at least in part on information provided from the orientation sensor, and store the second image in a non-transitory memory.

Abstract: A method of suturing a trocar path incision in a tissue of a patient with an obturator includes inserting the obturator through the tissue such that a shaft of the obturator extends through a tissue opening about the trocar path incision and a distal tip of the obturator is positioned within a cavity of the patient. The method also includes directing the suture via a suturing feature with the obturator inserted through the tissue in order to direct the suture relative to the tissue. Furthermore, the method includes closing the tissue opening about the trocar path incision with the suture.

Abstract: A rotating plating fixture changes an orientation of the substrate throughout a plating cycle. The plating fixture changes the orientation by precisely controlling a rotation speed and position of the substrate. A stepper motor changes the orientation in response to control signals from a controller. The plating fixture includes a stepper motor fixed to a hanger, a shaft coupled to the stepper motor, a pinion gear coupled to the shaft such that rotation of the shaft by the stepper motor causes rotation of the pinion gear, and a bevel gear meshing with the pinion gear.

Abstract: The present invention provides a single self-contained device for collecting, extracting, on-site testing, and transferring for forensic confirmatory analysis, a wide variety of substances including, but not limited to, drugs of abuse, explosives, weapons of mass destruction, food toxins and industrial wastes. Samples can be obtained from a surface by swabbing a suspect area or the testing of solid materials (pills, capsules, powders), air samples and biological and non-biological fluids by placing the substance in the device. The device includes a swab, a retention well including a wash, and analysis technologies that can be, for example, a lateral flow testing system. The swab is rinsed with a wash prior to testing thereby not compromising the chemistry of the detection technologies and allowing for a wide variety of applications under a number of field conditions. Also, the device is a single self-contained unit instead of having a separate reagent droppers or sprays, making it compact and easy to use.

Abstract: The present invention provides a single self-contained device for collecting, extracting, on-site testing, and transferring for forensic confirmatory analysis, a wide variety of substances including, but not limited to, drugs of abuse, explosives, weapons of mass destruction, food toxins and industrial wastes. Samples can be obtained from a surface by swabbing a suspect area or the testing of solid materials (pills, capsules, powders), air samples and biological and non-biological fluids by placing the substance in the device. The device includes a swab, a retention well including a wash, and analysis technologies that can be, for example, a lateral flow testing system. The swab is rinsed with a wash prior to testing thereby not compromising the chemistry of the detection technologies and allowing for a wide variety of applications under a number of field conditions. Also, the device is a single self-contained unit instead of having a separate reagent droppers or sprays, making it compact and easy to use.

Abstract: The present invention is a single self-contained device for collecting, transferring, extracting, and testing for the presence of a target analyte in a sample obtained from a surface by swabbing, solid materials (pills, capsules, unknown powders), air samples and biological and non-biological fluids. The device includes a swab, a retention well including eluent fluid, and analysis technologies which can include but are not limited to lateral flow testing analysis. The major improvement is the invention of rinsing the swab with proprietary elution fluid prior to testing thereby not compromising the chemistry and allowing for a wide variety of applications under extremely hot or cold field conditions. Also, the device is in one self-contained unit instead of having a separate water dropper or spray.

Abstract: The present invention provides a single self-contained device for collecting, extracting, on-site testing, and transferring for forensic confirmatory analysis, a wide variety of substances including, but not limited to, drugs of abuse, explosives, weapons of mass destruction, food toxins and industrial wastes. Samples can be obtained from a surface by swabbing a suspect area or the testing of solid materials (pills, capsules, powders), air samples and biological and non-biological fluids by placing the substance in the device. The device includes a swab, a retention well including a wash, and analysis technologies that can be, for example, a lateral flow testing system. The swab is rinsed with a wash prior to testing thereby not compromising the chemistry of the detection technologies and allowing for a wide variety of applications under a number of field conditions. Also, the device is a single self-contained unit instead of having a separate reagent droppers or sprays, making it compact and easy to use.

Abstract: The present invention provides a single self-contained device for collecting, extracting, on-site testing, and transferring for forensic confirmatory analysis, a wide variety of substances including, but not limited to, drugs of abuse, explosives, weapons of mass destruction, food toxins and industrial wastes. Samples can be obtained from a surface by swabbing a suspect area or the testing of solid materials (pills, capsules, powders), air samples and biological and non-biological fluids by placing the substance in the device. The device includes a swab, a retention well including a wash, and analysis technologies that can be, for example, a lateral flow testing system. The swab is rinsed with a wash prior to testing thereby not compromising the chemistry of the detection technologies and allowing for a wide variety of applications under a number of field conditions. Also, the device is a single self-contained unit instead of having a separate reagent droppers or sprays, making it compact and easy to use.

Abstract: The present invention is a single self-contained device for collecting, transferring, extracting, and testing for the presence of a target analyte in a sample obtained from a surface by swabbing, solid materials (pills, capsules, unknown powders), air samples and biological and non-biological fluids. The device includes a swab, a retention well including eluent fluid, and analysis technologies which can include but are not limited to lateral flow testing analysis. The major improvement is the invention of rinsing the swab with proprietary elution fluid prior to testing thereby not compromising the chemistry and allowing for a wide variety of applications under extremely hot or cold field conditions. Also, the device is in one self-contained unit instead of having a separate water dropper or spray.

Abstract: The invention relates to a safety restraint device for a bed for a motor vehicle to protect the bed's occupant during a crash situation without damaging the frame of the bed. The restraint device attaches to the bed with a pivot bolt. The pivot bolt also pivotally connects the side slat of the bed frame and a pivot bracket.

Abstract: An airflow control system for an oven having an oven cavity and a fan having a first operating mode for generating a first flow of air and a second operating mode for generating a second flow of air is provided. A baffle is included adjacent the fan to direct the first flow of air to a first region of the cavity in the first operating mode and to direct the second flow of air to a second region of the cavity in the second operating mode. A method of controlling airflow in an oven having an oven cavity is also detailed. The method can include different modes of operation, with different clockwise and counterclockwise rotational times for the fan, with different heating elements energized, or a combination of both, depending upon the food to be cooked in the oven.

Abstract: The invention relates to a safety restraint device for a bed for a motor vehicle to protect the bed's occupant during a crash situation without damaging the frame of the bed. The restraint device attaches to the bed with a pivot bolt. The pivot bolt also pivotally connects the side slat of the bed frame and a pivot bracket.

Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.

Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.

Abstract: An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm.

Abstract: A trajectory generation system is provided for operating a robot in response to a motion command. The robot is a multi-jointed manipulator with an end-effector that traverses a trajectory. A Cartesian trajectory generator converts the motion command into a requested Cartesian positions vector and a requested Cartesian velocities vector. A Jacobian matrix of the manipulator defines the relationship between the manipulator joint velocities vector and the manipulator Cartesian velocities vector. A requested joint velocities vector is computed from the requested Cartesian velocities vector by way of the inverse of the Jacobian matrix. The requested joint velocities vector defines a planned state vector for the manipulator.

Abstract: A temperature operated switch construction, terminal block therefor and methods of making the same are provided, the switch construction comprising a housing, a movable switch arm carried in the housing, a temperature actuated unit disposed in the housing and being operatively interconnected to the switch arm to cause movement of the arm between operating positions thereof in relation to the temperature being sensed by the temperature actuated unit, the housing comprising a main part and a removable terminal block carried by the main part, the terminal block carrying a switch unit that is operatively associated with the switch arm so that the switch unit is in a first condition thereof when the switch arm is in a first operating position thereof and the switch unit is in a second condition thereof when the switch arm is in a second operating position thereof, the switch unit comprising a reed switch and the switch arm carrying a magnet for operating the reed switch to the conditions thereof as the switch arm

Abstract: A temperature operated switch construction, terminal block therefor and methods of making the same are provided, the switch construction comprising a housing, a movable switch arm carried in the housing, a temperature actuated unit disposed in the housing and being operatively interconnected to the switch arm to cause movement of the arm between operating positions thereof in relation to the temperature being sensed by the temperature actuated unit, the housing comprising a main part and a removable terminal block carried by the main part, the terminal block carrying a switch unit that is operatively associated with the switch arm so that the switch unit is in a first condition thereof when the switch arm is in a first operating position thereof and the switch unit is in a second condition thereof when the switch arm is in a second operating position thereof, the switch unit comprising a reed switch and the switch arm carrying a magnet for operating the reed switch to the conditions thereof as the switch arm

Abstract: Solvent pretreating coal fines prior to briquetting to provide coal briquettes which have no added binder and which will withstand weathering conditions better than binder containing briquettes. The solvents are generally described as organic Lewis base solvents which are capable of electron donor action, and include among others, acetone, methyl ethyl ketone, and ethylene diamine.