Abstract: A high-resolution path marking system utilized with inertial navigation systems for land vehicles. The system uses radio frequency tags or “beacons” to mark a route to be traversed by manned or unmanned follower vehicles. The RF tags serve as references to correct time and distance traveled dependent errors that accumulate in the follower vehicle's inertial navigation system. The position of each tag is accurately encoded into its memory using a manned path marking vehicle that “proofs” the route in advance of the follower vehicles. Since the inertial navigation system for the path marking vehicle and for the follower vehicles are synchronized at the start of the route, any errors accumulated in the followers' INS with respect to the path marking vehicle are eliminated at the prescribed intervals where the RF tags are placed. The path marking vehicle can lay the route days, weeks, or even months in advance of use by the follower vehicles.

Abstract: An autonomous vehicle for operating in a predetermined work area while avoiding both fixed and moving obstacles. A plurality of laser, sonic and optical sensors detect targets and obstacles in the work area and provide coded signals to processors and controllers which direct the vehicle over a most expedient route to a target while avoiding any obstacles. The vehicle is especially useful in moving around the deck of an aircraft carrier to deliver ammunition to aircraft from an ammunition magazine.

Abstract: Method and apparatus for entering control points relative to a dynagraph of a well pumping unit using the position of a beam and a pen holder of an XY plotter. The beam and/or the pen holder is physically moved to a desired location and an "enter" button is pressed to enter a value corresponding to an X or a Y position and another button is used to enter the other corresponding position value. The entered point is used to control operation of the well.

Abstract: Method and apparatus for detecting problems in sucker-rod well pumps and for determining which type of problem occurs. A first transducer provides a signal representative of the load on a sucker-rod string and a second transducer provides a signal representative of the sucker-rod position. The load signal and the position signal are used to generate a dynagraph of rod load vs. rod position with the pump working normally. A working dynagraph is continually compared with the normal dynagraph and a working load signal is continually compared with a normal rod load signal to detect problems in the pumping system and to determine the type of problem detected if one does develop.

Abstract: This is a display and control system which includes a computer and peripheral hardware for displaying deck board position data and deck board width data on both the upper and lower sides of a pallet. The system includes a row of light emitting diode cells for displaying deck board position and width for each side of a pallet and a manually controllable cursor cell which can be set at a selected deck board position along a row. Data entry controls are provided for supplying data to the computer for energizing display cells adjacent the cursor cell to represent both pallet deck board width and board position in each row and the computer stores the data to control a pallet nailing machine.

Abstract: Methods and apparatus for detecting fluid pound in a sucker-rod oil well, using maximum and minimum values of sucker-rod position and of sucker-rod load to calculate a reference position and a selected load value. The apparatus automatically calculates the reference position and the selected load value according to the characteristics of the well and of the well pumping equipment. When the sucker-rod moves downward to the reference position, the actual load value is checked against the selected value and in one embodiment of the invention a warning signal develops when the amount of the load exceeds the previously selected load quantity. In another embodiment a warning signal develops when the rate of change of the load is at a maximum below the reference position. In a third embodiment a warning signal develops when a minimum rate of change of the load occurs below the reference position.

Abstract: Method and apparatus for recording and subsequent playback of selected dynagraphs for wells employing sucker-rod pumping units to determine well faults which cause well shutdown. Calibration data from well monitoring equipment is stored in a first "endless tape" type of memory during calibration of the well and operation data from the monitoring equipment is stored in a second "endless tape" memory during well operation. After well shutdown the stored data can be retrieved and the operation data stored immediately prior to well shutdown compared with calibration data to determine what type of fault caused well shutdown.

Abstract: A system for transferring fluid between two marine tankers, including a first articulated loading arm mounted on the first tanker and a second loading arm or other suitable receiver mounted on the second tanker. The first loading arm is guided into operating contact with the second arm or receiver by laser tracking and ranging equipment, and by a computer which computes the location of the end of the first loading arm relative to the second arm or receiver. After the first loading arm and the receiver are connected together, the computer calculates the position of the outboard end of the first loading arm, compares this position to a set of safe operating boundaries, and provides a warning signal whenever the end of the arm moves outside any of these safe boundaries. When the end of the first arm moves outside a critical boundary the computer provides a disconnect signal which shuts down the loading operation and disconnects the first loading arm from the second arm or receiver.

Abstract: A system for sensing the positon in space of the outer end of an articulated fluid loading arm while it is connected to a marine tanker or other transport vessel, and for sounding an alarm if the arm's operating envelope is exceeded. The sensing system includes means for determining various angles representative of the orientation of the booms or limbs of the arm, and a microprocessor for using these angles to compute the spatial position of the arm's outboard end. The boundaries between the safe and unsafe areas of operation of the arm are stored in a digital memory and compared with the actual position of the arm. The boundaries which define the safe areas can be any desired shape, and the shape can be readily changed by storing a new set of boundary values in the digital memory. If desired, the location of the boundaries can be made to depend upon the velocity of the arm as it is being maneuvered.

Abstract: A solid state circuit providing the function of a ratchet relay which circuit is relatively immune from noise and is capable of high speed switching operation. The circuit is adapted to receive an AC input trigger signal and convert such signal into an appropriate signal for alternately firing a pair of triacs that are each serially connected with a load and an AC power source. The circuit includes an input section comprising an AC to DC pulse converter, a time delay network, and a pulse shaping circuit which provide a clean input pulse to trigger a flip-flop and an output section including an opto-isolated Darlington transistor pair which is provided with a separate power supply and which operates to alternately fire the triacs in response to the output state of the flip-flop.