Abstract: A coin diameter discriminating device wherein a coin is received in a coin transport mechanism which is rotated by a motor at an accurately controlled angular velocity. By such arrangement, the coin is carried along a predetermined path at an accurately controlled or regulated velocity past at least one optical sensor that provides a change of state output upon detecting an edge of the coin. The sensor is arranged to start a time counter that is stopped by a predetermined reference event such as the coin transport mechanism having rotated to a predetermined angular orientation. The time count in the counter therefore corresponds to the angular orientation of the coin transport mechanism at the time of detecting the coin edge, which also accurately corresponds to the diameter of the coin. The time count is then compared to corresponding time count ranges each of which relates to known standards of an acceptable coin denomination.

Abstract: A method and apparatus for discriminating and collecting coins wherein an inserted coin is received in a notch of a rotary disk. Upon sensing the insertion of a coin into the notch, a motor rotates the disk through a predetermined arc to a predetermined angular orientation where a decision is made whether to accept or reject the coin based on coin characteristics such as the sensed diameter of the coin and metal content. If the coin is accepted, the disk is rotated to an angular orientation where the coin falls from the notch into a coin collection box. However, if the coin is rejected, the disk is rotated in the opposite direction to an angular orientation where the coin falls into a coin return chute. Sensors are also provided to sense the presence of the coin in the notch on the way back to the initial angular orientation. If the coin failed to fall out for any reason, another attempt is made to collect the coin.

Abstract: A marine autopilot having a deadband feature to reduce ineffectual rudder movement and unnecessary wear on the rudder and associated drive apparatus. In a first deadband operation, four deadband values are computed based on various parameters in order to provide optimum system performance and circuit redundancy. The deadband values are a function of the maximum allowable heading error, the maximum allowable angular velocity of the vessel, and the vessel speed. A second deadband operation compensates for noise introduced into the autopilot system by the speed sensor, compass, and roll sensor.

Abstract: A washing machine having the cabinet decoupled from the suspension system in order to eliminate undesirable resonance mode walking conditions. The cabinet is frictionally attached to the washer supporting feet. With this arrangement, the effect of the cabinet on the washer/floor natural frequency is eliminated, thereby increasing such natural frequency above the spin speed of the washer. In this way, walking typically occurring at the natural frequency (i.e. when the spin speed matches the natural frequency of the washer and floor system) is prevented. This arrangement further provides decreased cabinet vibration and noise during operation at typical spin speeds.

Abstract: A washing machine having improved resistance toward frictional walking. The washer comprises a cabinet, a tub assembly disposed in the cabinet for processing a wash load and a suspension including a truss-like pedestal for supporting the tub assembly and for permitting the tub assembly to pivot. The supporting feet of the washer are rotatably coupled to the suspension. Preferably, the number of members comprising the suspension is greater than or equal to three times the number of joints comprising the suspension minus eight. With this arrangement, a statically determinant suspension is provided. The substantially continuous contact between the supporting feet and the floor (i.e. the feet automatically conform to the floor surface) increases the frictional resistance, thereby decreasing the probability of frictional walking.

Abstract: A system for safely disposing of pathogenic waste materials. The waste material is disposed in a chamber and heated by forced hot air to temperatures above approximately 450.degree. F. to destroy harmful bacteria within several minutes. The high temperatures melt plastic waste materials. The harmless waste is cooled providing a solid block in which syringes and other sharp items are generally encased. The temperature within the chamber is continuously sensed and the operation of the apparatus is microprocessor controlled to adjust the process time in accordance with the load size. The microprocessor further stores the sensed temperature to provide verification that the waste has been exposed to sufficient temperatures and for a sufficient time to render such waste harmless.

Abstract: A marine autopilot having adaptive gain control. The autopilot operates under a proportional plus derivative (PD) control law during course change operation (i.e. when the difference between a desired course and the actual vessel heading is greater than a predetermined value) and a proportional plus integral plus derivative (PID) control law during course keeping operation (i.e. when the difference between the desired course and the actual heading is less than the predetermined value). A gain value associated with the derivative term of the PID control law is adaptively controlled as a function of the roll frequency of the vessel. More particularly, since the damping provided by the derivative term is ineffectual in maintaining the desired course when the vessel is heading into the seas (i.e. when the roll frequency is greater than a predetermined value), the derivative term is nulled in such conditions.

Abstract: A marine autopilot includes a roll compensation feature to improve autopilot performance. An additional parameter is included in a proportional-integral-derivative control algorithm. The additional term corresponds to the roll angle of the vessel. Since, roll precedes deviation of a vessel from a desired course, the rudder moves to compensate for the disturbance prior to deviation from the desired course. In this way, the vessel's course keeping performance is improved and the overall rudder activity is reduced since the vessel remains more closely aligned with the desired course.

Abstract: A washing machine includes a mid-level pivot and traverse suspension arrangement and a modular assembly. A support having a central aperture is spaced from the washing machine base by a plurality of upstanding legs. The modular assembly, including a drain tub, a drive shaft, and a transmission, is disposed on the support with the drive shaft and the transmission extending through the central aperture of the support. The modular assembly is a disengageable intact from the support with the transmission and the drive shaft passing through the central aperture of the support.

Abstract: A washing machine brake and release mechanism adapted for use with a motor that is alternately reversed in direction to provide drive during an agitator cycle, and is driven unidirectionally to provide drive for a spin cycle. The motor is linked through a speed reducer that has an output disc connected to the shaft of the agitator. A collar discriminator releases the washer brake when the disc is driven unidirectionally; however, the collar discriminator leaves the brake engaged when the disc is rotated through a stroke arc less than 360.degree.. The collar discriminator has a pair of downwardly extending pins that ride up on ramps positioned on the top surface of the disc when driven unidirectionally thereby causing the discriminator to push up against and release the brake. When the disc is alternately reversed through some arc less than 360.degree. such as during an agitate cycle, the ramps are arranged so as to avoid engaging the pins of the collar discriminator thereby leaving the brake engaged.