Abstract: A method and apparatus for preventing water from entering the abrasive port of an entrained high pressure fluid jet nozzle and a method and apparatus for attaching the high pressure fluid jet nozzle to a hazardous duty robot. The invention includes the application of a positive air pressure to an abrasive line preferably during those times when there is insufficient vacuum generate by high pressure fluid being sent through the restricted orifice in the high pressure nozzle. The invention prevents clogging of a fluid jet cutting system during operation. The invention includes mounting a nozzle and/or visualization system to an expandable and contactable component such as a grasping device that allows for continued use of the expandable and contractible grasping unit. This includes, for example, a grasping device that is provided out the end of a movable robot arm and that allows for rotation of the grasping device.

Abstract: A turbine head assembly is provided for use with an aerial tow reel assembly. The turbine head includes permanently open aft exhaust ports and a turbine assembly upstream of the exhaust port. The turbine head assembly features a housing with an open inlet. A split balanced butterfly valve assembly is provided at the open inlet of the housing. An actuation assembly drives a pair of baffle doors about a vertical axis with the baffle doors being arranged so as to automatically rotate inward into a closed position whenever there is a power outage in flight. This fail-safe feature avoids turbine overspeeding. The actuation assembly is positioned closer to the inlet and the butterfly valve assembly than to the turbine assembly.