Abstract: Apparatus for gathering data about a plurality of chemical or physical conditions, e.g. on industrial plants, utilizes a plurality of passive optical sensors. Light for the sensors is provided by a common broadband source, and distributed by an optical fiber from which light of a selected color is withdrawn for each sensor in turn, the color selected for each sensor being different from that selected for the other sensors. Each color is modified by its respective sensor as a function of changes in the conditions applied to the sensor, and all the modified colors are conveyed along a common data bus to be demultiplexed and the data displayed. The colors may be supplied by the data bus to detection means simultaneously or sequentially. Passive optical sensors avoid electrical interference and incendiary risks due to electrical sparking, and color multiplexing avoids difficulties associated with other forms of multiplexing in plant environments.

Abstract: An unmanned vehicle capable of being automatously guided towards a predetermined destination by the geometrical computation of light signals received by at least two on-board detectors which relate the direction of each signal received to the axis of the vehicle. Useful in restricted areas such as automatic warehouses and loading bays.

Abstract: An unmanned vehicle capable of being automatically guided towards a predetermined destination by the geometrical computation of light signals received by at least three omnidirectional detectors on-board the vehicle. Useful in restricted areas such as automatic warehouses and loading bays.

Abstract: Linkage mechanisms for industrial manipulators are disclosed which are based on so-called straight line mechanisms. The preferred straight line mechanism is of the conchoid type. The linkage mechanisms may be employed to move functional elements of industrial manipulators in straight lines without the use of lead screws or revolute jointed arms.