Abstract: A balancing vehicle having enhanced stability for transporting a payload. The vehicle has two substantially coaxial wheels coupled to a platform. Each wheel rotates about an axis, with the axis of each wheel disposed at a non-zero angle with respect to an axis that is defined by the centers of the respective wheels and that is substantially perpendicular to the direction of forward motion of the vehicle. The vehicle has a motorized drive that provides locomotion of the vehicle in an operating position that is unstable with respect to tipping if the motorized drive is not powered.

Abstract: A thermal cycle engine having a heat exchanger for transferring thermal energy across the heater head from a heated external fluid to the working fluid. The heat exchanger has a set of heat transfer pins each having an axis directed away from the cylindrical wall of the expansion cylinder. The height and density of the heat transfer pins may vary with distance in the direction of the flow path, and the pin structure may be fabricated by stacking perforated rings in contact with a heater head. Ribs are provided interior to the heater head to enhance hoop strength and thermal transfer.

Abstract: Improvements to personal vehicles including self-propelled and balancing personal vehicles. Ready detachability of a seat, footrest, seat back, control unit, wheels and caster assembly is provided using quick disconnect mechanisms.

Abstract: A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

Abstract: A method for controlling the fuel-air ratio of a burner having a blower responsive to a blower drive signal for injecting air into the burner. The method is based at least on the concentration of a gas in an exhaust gas product of a combustion chamber of the burner and includes measuring the gas concentration in the exhaust gas product, deriving a gas concentration signal from the measured gas concentration, determining the fuel-air ratio from the gas concentration signal and the sign of the derivative of the gas concentration signal with respect to the blower drive signal, and controlling the fuel-air ratio by adjusting the air flow rate into the burner. The burner may be, for example, in a Stirling cycle engine.

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

Abstract: An automatically balancing vehicle having a headroom monitor. The headroom monitor determines the difference between the maximum velocity of the vehicle and the present velocity of the vehicle. An alarm receives a signal from the headroom monitor and produces a warning when the headroom falls below a specified limit.

Abstract: A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

Abstract: A safety mechanism for a personal vehicle that provides for separation of the motion of a body support from a ground contacting assembly of the vehicle in case of accident. In one embodiment, the body support is attached to the ground contacting module via a slide mechanism that permits the body support to continue upright motion despite overturning of the ground contacting assembly in order to prevent injury to the passenger. Another embodiment provides for coupling of the body support or the ground contacting assembly via either a real or virtual pivot located above the respective centers of mass of the body support and ground contacting assembly.

Abstract: A system for controlling flow through a line during intravenous drug delivery. The system is capable of use in conjunction with a bedside-pharmacy system for the preparation and delivery of intravenous drugs. The system includes a disposable cassette with first and second valve chambers and a control unit into which the cassette is capable of being received. The control unit has a cam and first and second actuators. The bedside-pharmacy system may include a liquid inlet for connection to a liquid supply, vial receptacles, and a liquid outlet for providing the intravenous drug in mixed, liquid form to the patient. That system may include a chamber having a variable volume, and a valve mechanism, which may be actuated to control flow between the liquid outlet, the variable-volume chamber, the vial receptacles and the liquid inlet.

Abstract: A method of combusting fuel and air in a burner of an external combustion engine having a heater head. The fuel and air are combined to form a fuel-air mixture which is characterized by a fuel-air ratio. An exhaust gas product is produced when the fuel-air mixture is combusted in the burner of the external combustion engine. A flame is formed by igniting the fuel-air mixture at a first fuel-air ratio produced by a first air flow rate and a fuel flow rate. The air flow rate is then increased to produce a second fuel-air ratio. The fuel flow rate is also controlled based upon a temperature of the heater head of the external combustion engine. The flame is maintained at the second fuel-air ratio by adjusting the air flow rate based on the fuel flow rate. The external combustion engine may be, for example, a Stirling cycle engine.

Abstract: A bedside-pharmacy system for the preparation and delivery of intravenous drugs. The system includes a liquid inlet for connection to a liquid supply, vial receptacles, and a liquid outlet for providing the intravenous drug in mixed, liquid form to the patient. The system may include a chamber having a variable volume, and a valve mechanism, which may be actuated to control flow between the liquid outlet, the variable-volume chamber, the vial receptacles and the liquid inlet. The system induces change in the volume of the variable-volume chamber and actuates the valve mechanism, so as to introduce liquid from the liquid inlet into the vials and reconstitute or dilute the drugs and so as to deliver the drugs to the patient. In a preferred embodiment, the liquid inlet, the vial receptacles, the variable-volume chamber, the liquid outlet and the valve mechanism (in other words, all components that come into contact with the liquid) are located in a disposable cassette, which may be received in a control unit.

Abstract: A motorized vehicle capable of fault detection and of operation after a fault has been detected. The vehicle has a plurality of control components coupled to a motorized drive and a comparator for comparing the output of each of the control components with outputs of other control components so that failures may be identified. The vehicle may have multiple processors coupled to a plurality of control channels by means of a bus and a decision arrangement that suppresses the output of any processor for which a failure has been identified.

Abstract: A bedside-pharmacy systen for the preparation and delivery of intravenous drugs. The system includes a liquid inlet for connection to a liquid supply, vial receptacles, and a liquid outlet for providing the intravenous drug in mixed, liquid form to the patient. The system may include a chamber having a variable volume, and a valve mechanism, which may be actuated to control flow between the liquid outlet, the variable-volume chamber, the vial receptacles and the liquid inlet. The system induces change in the volume of the variable-volume chamber and actuates the valve mechanism, so as to introduce liquid from the liquid inlet into the vials and reconstitute or dilute the drugs and so as to deliver the drugs to the patient. In a preferred embodiment, the liquid inlet, the vial receptacles, the variable-volume chamber, the liquid outlet and the valve mechanism (in other words, all components that come into contact with the liquid) are located in a disposable cassette, which may be received in a control unit.

Abstract: A catamenial collector, in an embodiment, has a receptacle with a flexible hollow rim capable of inflation and has a handle with substantially the length of a female vagina. The collector may have a string, in one embodiment, extending through the rim and at least a portion of the handle so that a pulling force axially applied to a string end causes the receptacle to close. In another embodiment, an elastic member is so configured that deflation of the rim also causes the receptacle to close. The collector and associated methods of use provide for the sanitary collection and disposal of menses.

Abstract: An apparatus designed to clean surfaces and to recycle the cleaning solution including a hand-holdable housing, a tube having a lumen through which cleaning solution may be impelled, a pump for both impelling and urging solution back through a return path. Piston-based, in particular a ganged pump using a stepped piston, as well as membrane-based pumps are disclosed. Methods of cleaning surfaces using such apparatuses as well as a system for periodically cleaning a plurality of surfaces are disclosed as additional embodiments.

Abstract: A cushion system for supporting a body such as a seated person at risk of developing pressure sores. An array of one or more foam members is biased such that each foam member exhibits a substantially constant force per unit area when supporting the body. The bias may be passive, by choice of foam characteristics, and additionally, may be applied actively by providing a gas to the foam and controlling the pressure of the gas in response to the pressure conditions at the interface with the supported body.

Abstract: A catheter reel apparatus facilitating one-person, single-handed control of catheter movement along a guidewire is provided in an embodiment. In a preferred embodiment, the reel has two grooves of different dimensions. The first groove is sized to carry a portion of the guidewire not within a catheter lumen while the second groove is sized to carry a portion of the catheter, which has the guidewire inserted in the lumen. As the reel is rotated, the proximal end of the catheter is deployed from the device through an exit provided by a housing. Continued rotation pays out the desired length of catheter and the catheter is guided, without guidewire moving into or out of the housing, to a desired location. When the catheter is to be withdrawn, the reel is rotated in the opposite sense to catheter deployment.

Abstract: A medical irrigation pump and pump system utilize a permanent non-sterile drive motor capable of operating disposable sterile single use pump units each of which is specifically designed for a particular medical procedure. The pump units have housings which are adapted to be interchangeable within the permanent controller system. Only the sterilized and disposable pump units come into contact with the fluid pathway during pumping. A pattern of bumps on each pump unit is unique for the medical procedure for which the pump unit was designed. The pattern of bumps engages switches on the controller, enabling the controller to identify what type of pump unit has been installed. After automatically identifying the type of pump unit and the intended medical procedure, the controller automatically selects a default motor speed that will provide an appropriate fluid pressure for that particular procedure. Buttons on a control panel also enable the user to manually adjust the pressure delivered by the pump.

Abstract: The present invention is directed toward a vial-loading mechanism for a system that prepares and delivers one or more IV drugs to a patient. The vial-loading mechanism is used to load a vial onto a cassette spike and includes a vertical support member located adjacent to the spike. A holding assembly holds at least one vial. The holding assembly is mounted to the support member so as to be positionable between an upper position for loading a vial and a lower position for piercing the vial with a spike. The holding assembly has an arcuate-shaped holding member for holding the vial. A catch is provided with an engagement unit for securing the holding assembly in the lower position. This arrangement provides an easy way to add, retain, and remove vials from the system and protects the clinicians that do this from contacting the spikes and hurting themselves.