Abstract: A device for preventing backlash in a gear train, comprising a first and second drive gear, driven by a first and second motor, with a driven gear, a system controller defining a nominal trajectory of said driven gear, a position feedback controller for calculating a speed set point, a phase controller for calculating a difference between said first and second motor torque, providing torque upper and lower levels, comparing said difference to said upper and lower levels and adjusting the phase set point for said first and second motors based at least upon the comparing, where the phase is reduced if said difference is greater than or equal to said upper level, said phase is increased if said difference is less than or equal to said lower level, and said phase is kept constant if said difference is greater than said lower level and less than said upper level.

Abstract: An apparatus for and method of measuring the compressed volume of a particulate material comprising a chamber for containing a particulate material which will be evaluated; a removable, fixed means at one end of said chamber to enclose said chamber and for containing said particulate material within said chamber; a compression means at the other end of said chamber which further encloses and contains said particulate material within said chamber and which provides a linear force on said particulate material so that one end of said particulate material is linearly movable and said compression means will compress the particulate material in said chamber; means to move said moveable piston away from a particulate material placed inside said chamber to decompress the particulate material in said chamber; means for measuring the distance between said movable piston and said fixed means so to measure the thickness of said compressed particulate material; and measuring means on the moveable piston of said chamber fo

Abstract: A device for preventing backlash in a gear train, comprising a first and second drive gear, driven by a first and second motor, with a driven gear, a system controller defining a nominal trajectory of said driven gear, a position feedback controller for calculating a speed set point, a phase controller for calculating a difference between said first and second motor torque, providing torque upper and lower levels, comparing said difference to said upper and lower levels and adjusting the phase set point for said first and second motors based at least upon the comparing, where the phase is reduced if said difference is greater than or equal to said upper level, said phase is increased if said difference is less than or equal to said lower level, and said phase is kept constant if said difference is greater than said lower level and less than said upper level.

Abstract: An apparatus for and method of measuring the compressed volume of a particulate material comprising a chamber for containing a particulate material which will be evaluated; a removable, fixed means at one end of said chamber to enclose said chamber and for containing said particulate material within said chamber; a compression means at the other end of said chamber which further encloses and contains said particulate material within said chamber and which provides a linear force on said particulate material so that one end of said particulate material is linearly movable and said compression means will compress the particulate material in said chamber; means to move said moveable piston away from a particulate material placed inside said chamber to decompress the particulate material in said chamber; means for measuring the distance between said movable piston and said fixed means so to measure the thickness of said compressed particulate material; and measuring means on the moveable piston of said chamber fo