Abstract: A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.

Abstract: In accordance with one embodiment of the present invention, a wireless transmission method for use in a multi-hop wireless communication system includes determining for a particular transmission at least one measure of the expected link characteristics for at least two links of a communication path, and for each of those links, configuring a particular transmission window by setting its shape and/or a transmission format to be used in that window in dependence upon the measure for that link only. Furthermore, the method includes, during that particular transmission, transmitting information along those links using, for each of those links, the particular transmission window for that link.

Abstract: A transmission method for use in a multi-hop wireless communication system is provided. The system includes a source apparatus, a destination apparatus and two or more intermediate apparatuses. The system has access to a time-frequency format for use in assigning available transmission frequency bandwidth during a discrete transmission interval, said format defining a plurality of transmission windows within such an interval. Each window occupies a different part of that interval and has a frequency bandwidth profile within said available transmission frequency bandwidth over its part of that interval. Each said window is assignable for such a transmission interval to one of said apparatuses for use in transmission.