Abstract: The present invention relates to a combined piloting method of remote operated underwater vehicles comprising the phases which consist in connecting, to a vertical profile (21), a constraint device (20) comprising at least two arms (25) arranged at a reciprocal fixed angular position, each of the at least two docking arms (25) comprising at a first end (25a) means (29) for the hooking of a remote operated underwater vehicle (14), the at least two docking arms (25) being constrained at one of their second ends (25b) to means (26) for the sliding and rotating hooking to said vertical profile (21); connecting at least two remote operated vehicles (14) to the constraint device (20); detecting the position of the overall structure consisting of the constraint device (20) and remote operated vehicles (14); detecting the orientation of each of the remote operated vehicles (14); receiving data relating to the position and orientation to be reached; determining the power required by each remote operated vehicle (14) a

Abstract: A method for the extinction or oil well-killing or killing of an underwater well for the extraction of hydrocarbons under uncontrolled fluid discharge conditions, also called blowout, by assembling, in correspondence with the lower end portion of a string of pipes for the extinction or killing string, a constraint group for rigid connection between a plurality of remote-operated underwater vehicles and the killing string; detecting the position of a flow of fluids and positioning the killing string substantially in correspondence with said flow; lowering a plurality of remote-operated vehicles close to the lower end portion of the killing string; connecting the remote-operated vehicles to the constraint group; detecting in real time the relative position of the flow of fluids with respect to the vehicles and calculating the position of the outlet hole of the flow; on the basis of the calculated position of the outlet hole, coordinately piloting the vehicles so as to bring the lower end of the string in corres

Abstract: A device for controlling a robotic arm (1) is disclosed, comprising at least two branches (2, 3) connected to each other by an articulation and coupled to a support (4), each having an actuator (8) controlled by a controller, wherein either the branches (2, 3) are elastically flexible or the drive connection to the actuator (8) is elastically flexible. According to the invention, advantageous control conditions can be achieved by the controller for the actuators (8) of the branches (2, 3) each comprising a regulating stage (10) provided by a sensor (12, 22) with signals for the load either on the corresponding elastically flexible branch (2, 3) or the elastically flexible actuator (8), which may be controlled along the movement path thereof depending on the position of the bearing (5, 7) supporting the branch (2, 3).

Abstract: A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.

Abstract: The invention relates to a device for moving people or objects for the purposes of play, sport, pedagogy or therapy. Said device consists of a static base surface (2), a mobile surface (1) on which the person to be moved is located, and active, controllable mechanical adjusting bodies which act between the static and mobile surfaces. Piston-free pneumatic actuators (3) are used for the mechanical adjusting bodies. In this way, the device is essentially more economical, smaller, lighter and more reliable than known comparable devices comprising different active mechanical adjusting bodies.

Abstract: Procedure for evaluating the parameter of actual K.sub.a total friction of a shouldered threaded connection which includes:a) making up the connection applying a general make-up torque and observing the corresponding torque/turn diagram;b) subsequently breaking out the connection observing the corresponding torque/turn diagram;c) calculating the actual K.sub.a of the connection with an appropriate equation.