Abstract: The present invention provides a powered aiming platform for pointing devices such as firearms, illumination devices, or sensing instruments, remotely controlled by a hand-controller device, with video feedback of the aiming position and audio feedback of the exact direction and speed of positioning movements. The present invention overcomes the safety and accuracy limitations of manual and conventional remotely-controlled aiming mechanisms, thereby allowing operators to point devices accurately and quickly with predictable, precise control. In the case of firearms, the present invention maintains a steady position after repeated firing.

Abstract: The present invention provides a powered aiming platform for pointing devices such as firearms, illumination devices, or sensing instruments, remotely controlled by a hand-controller device, with video feedback of the aiming position and audio feedback of the exact direction and speed of positioning movements. The present invention overcomes the safety and accuracy limitations of manual and conventional remotely-controlled aiming mechanisms, thereby allowing operators to point devices accurately and quickly with predictable, precise control. In the case of firearms, the present invention maintains a steady position after repeated firing.

Abstract: The present invention provides a powered aiming platform for pointing devices such as firearms, illumination devices, or sensing instruments, remotely controlled by a hand-controller device, with video feedback of the aiming position and audio feedback of the exact direction and speed of positioning movements. The present invention overcomes the safety and accuracy limitations of manual and conventional remotely-controlled aiming mechanisms, thereby allowing operators to point devices accurately and quickly with predictable, precise control. In the case of firearms, the present invention maintains a steady position after repeated firing.

Abstract: The present invention provides a powered aiming platform for pointing devices such as firearms, illumination devices, or sensing instruments, remotely controlled by a hand-controller device, with video feedback of the aiming position and audio feedback of the exact direction and speed of positioning movements. The present invention overcomes the safety and accuracy limitations of manual and conventional remotely-controlled aiming mechanisms, thereby allowing operators to point devices accurately and quickly with predictable, precise control. In the case of firearms, the present invention maintains a steady position after repeated firing.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily controlled displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed- volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders include ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily controlled displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed-volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders include ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: A negatively buoyant tether cable management apparatus for use with a remotely-operated underwater vehicle is disclosed. The apparatus includes a cable climbing assembly, a depth sensor and a controller coupled to the climbing assembly and formed to actuate the climbing assembly to climb the tether cable when the cable management apparatus has been lowered to a predetermined depth. The climbing assembly includes a pair of powered, ribbed belts which are wrapped at least partially around the periphery of the tether cable at an acute angle to the cable. As the tether cable is lowered further, the climbing assembly climbs to maintain the depth and passes the tether cable out below or beyond the climbing assembly to enable maneuvering of the remotely-operated underwater vehicle with respect to the negatively buoyant cable management apparatus.

Abstract: An apparatus and method is disclosed for providing tactile feedback information to the operator of a remotely operated manipulator assembly, such as a robot arm, by mechanically coupling a vibration sensitive transducer to said assembly and audibly reproducing the transducer output for operator listening. The use of an accelerometer as a vibration sensitive transducer is disclosed as well as techniques for cancelling environmental noise.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily connected displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed-volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders includes ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: The user of a remotely controlled, powered manipulator is provided with audible feedback signals which provide useful information relating to the force and speed of the motor. An audio tone is generated and is frequency modulated by a signal which corresponds to motor speed. The tone is amplitude modulated by a signal corresponding to motor force thus providing the user with an intuitively interpretable feedback signal having a speed-proportional pitch and force-proportional volume. In the case of an electric motor, voltage and current can be monitored to provide speed and force signals respectively. Additional modulation means are disclosed for introducing a force-proportional warble component to said tone.

Abstract: The user of electric arc welding equipment is provided with audible feedback signals which provide useful information relating to the output current and voltage of the welder. An audio tone is generated and is frequency modulated by a signal which corresponds to welder output voltage. The tone is amplitude modulated by a signal corresponding to output current thus providing the user with a synthesized feedback signal having a voltage-proportional pitch and current-proportional volume. Additional modulation means are disclosed for introducing a current-proportional warble component to said tone.