Abstract: An axle-mounted sensor cuff is configured to be removably attachable to a hub portion of a railcar wheel of a railcar wheelset for use in determining anomalies associated with the railcar wheel, or a railcar bogie assembly that the railcar wheelset is part of, or a track, during motion of the railcar wheelset on a track. The sensor cuff includes one or more sensors, such as inertial measurement units (IMU's), mounted thereto to measure parameters that are used for determining the anomalies during motion of the railcar wheel on the track. In addition, a wheel-mounted sensor ring is configured to be removably attachable to a hub portion of a railcar wheel of a railcar wheelset for use in determining anomalies associated with the railcar wheel, or a railcar bogie assembly that the railcar wheelset is part of, or a track, during motion of the railcar wheelset on a track.

Abstract: A spatial parallel-architecture robotic Carpal wrist is shown. The structure of the robotic Carpal wrist allows for the application of a closed-form solution to the kinematic problem of determining all of the possible inputs to the actuators that result in a desired end orientation of the distal plate. The robotic Carpal wrist has a structure including a base plate, a distal plate and six equal length links connecting the base plate to the distal plate with the six links being arranged in three chains of two links each and with three actuators being mounted in fixed relationship to the base plate. The three actuators cause the three links connected to the base plate to each pivot with a single degree-of-freedom relative to the base plate. Each of the three chains of links includes a three degree-of-freedom joint between its two links.