Abstract: A system and method for production of manufactured parts including a production process having at least one industrial robot equipped with a handling tool for picking up the manufactured part. The robot is arranged in a quality inspection cell and the robot is programmed to hold the manufactured part in at least one known position in the quality inspection cell and present the part for a quality inspection. The quality inspection may be made visually by an operator or with the aid of a tool or sensor or by means of automatic sensors. In other aspects of the invention a method, system and a computer program for carrying out the method are described.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms (14) and, fastened to them at a distance, controllable adhesive feet (21) that circulate with the endless traction mechanisms (14) along guides (17) in the travel plane, by means of which the adhesive sides of their adhesive elements (15) always point towards the travel surface and wherein the adhesive elements (15) that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements (15) are switched “OFF” and raised from the adhesive surface, wherein the climbing robot has square running gear (11), one foot plate (13) each with a guide (17) running around the edges for a multitude of adhesive feet (21) driven by traction mechanisms is arranged in two diagonally opposite corner areas (18) of the running gear (11), wherein the foot plates (13) are attached to a support bar (12) of the running gear (11) and the adhesive feet (21) and therefore their adhesive

Abstract: An endless-track type mobile climbing vehicle containing a suspension apparatus, transducer manipulator and surface cleaning system to perform non-destructive examination of structures while traversing the structure in all positions. The invention is able to conform to large range of irregularities of the climbing surface while maintaining contact between the track and adhering members and uniformly distributing the climbing loads on the adhering members giving the system a high payload to weight ratio. The invention is moves the inspection transducer over the surface while maintaining correct alignment of the tool relative to the surface. The invention allows an operator to perform an inspection on structures that require cleaning or other preparation prior to inspection. The invention allows an operator to perform an inspection remotely.

Abstract: In a simultaneous multi-axis measuring machine tool system including linear drive axes and rotation axes to measure a surface shape of an object to be measured by using an on-board measuring device having a probe mounted, at one end thereof, with a spherical contactor, a numerical controller controls driving of the linear drive axes and the rotation axes so that a central axis of the probe is always oriented in a direction perpendicular to the surface of the object to be measured and that the spherical contactor of the probe comes in contact with and follows a surface of the object to be measured.

Abstract: A visual hull for a 3D object is generated by using a set of silhouettes extracted from a set of images. First, a set of convex polyhedra is generated as a coarse 3D model of the object. Then for each image, the convex polyhedra are refined by projecting them to the image and determining the intersections with the silhouette in the image. The visual hull of the object is represented as union of the convex polyhedra.

Abstract: System for maintenance and inspection of structures located in hard to reach places, using a remote controlled arm that consists of arrangement for fixing said remote controlled arm to the structure, said remote controlled arm consists of at least two joints, said remote controlled arm has the ability to change working equipment, said remote controlled arm has a camera, said remote controlled arm is controlled from a control centre.

Abstract: The present invention relates to an overhead transmission line inspection robot and system for inspecting transmission line components and right of way conditions. The line inspection robot includes at least one drive system for propelling the robot along a line, a platform adapted to pivot relative to the at least one drive system, and a control system adapted to control the robot.

Abstract: The present invention relates to an overhead transmission line inspection robot and system for inspecting transmission line components and right of way conditions. The overhead transmission line inspection robot includes a communications and control system adapted to control the robot and transmit information and a drive system for propelling the robot along a shield wire to enable inspection over a large area. The robot further includes a camera adapted to inspect right of way and component conditions; a light detection and ranging (LiDar) sensor adapted to measure conductor position, vegetation, and nearby structures; and a global positioning system adapted to identify the robot's position and speed.

Abstract: The present invention relates to a diverter system to allow a line inspection robot to traverse an object. The diverter system includes a first diverter attached to a shield wire, a second diverter attached to the shield wire at a position spaced from the first diverter, and a bridge having a first end connected to the first diverter and a second end connected to the second diverter. The first diverter disengages the robot from the shield wire and onto the bridge and the second diverter disengages the robot from the bridge and onto the shield wire to allow the robot to traverse the object.

Abstract: A system for inspecting an underground conduit from within comprises a data acquisition subsystem configured to be placed within the conduit and to move along at least a portion of the conduit to obtain data regarding the conduit. The system comprises a data storage subsystem configured to be placed within the conduit and to move along the conduit. The data storage subsystem receives and stores at least a portion of the data from the data acquisition subsystem for retrieval after the data acquisition subsystem has moved along the conduit.

Abstract: A method for modifying a component may comprise measuring the component using a modifying tool, and recording position data for the component based on the measuring. A path for the modifying tool may be provided using the position data, and the component may be modified by moving the same modifying tool based on the provided path.

Abstract: A method and apparatus for estimating a position and an orientation of a mobile robot. The apparatus includes: a ceiling image grabber for obtaining a ceiling image of an area where the mobile device travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark including a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a position and an orientation of the mobile device using a position of the artificial mark or encoder information according to whether detection of the artificial mark is successful.

Abstract: Disclosed are an apparatus and a method for controlling a camera mounted at a robot cleaner in order to sense obstacles and perform position compensation. The apparatus for controlling a camera of a robot cleaner includes a first axis driver for driving a camera mounted at the robot cleaner in a first axis direction; a second axis driver 320 for driving the camera in a second axis direction other than the first axis direction; an image processor 330 for receiving and processing an image photographed by the camera; and a control section 340 for controlling the first axis driver and the second axis driver, and controlling a traveling of the robot cleaner based on the image photographed by the camera.

Abstract: An impression tray includes a tray holder; a U-shaped body coupled to the tray holder; and a plurality of indicators positioned on the tray holder and the U-shaped body. The impression tray allows the scanning process to be simplified as the indicators are used for registering the scanned model to patient anatomy. Doctors can examine the scan of the patient first and then make decision for surgical guide. The fabrication system setup is relatively simple. There is no specialized orientation jig. Regardless of the position of the stone model, the coordinates of the drill can be easily calculated.

Abstract: A method for establishing a dynamic maintenance scheduling tool for a specific part of a machinery based on condensed prior knowledge of the part of the machinery in a population of machineries. The scheduling tool is in turn used in a method for establishing a dynamic maintenance schedule for a specific part of a specific machinery, wherein parameters related to the usage, including relevant parameters representing factors influencing the lifetime of the specific parts, are utilized as input data to the dynamic maintenance scheduling tool for the specific part of the machinery, whereupon a dynamic maintenance schedule for the specific part of the specific machinery is achieved as output data from the scheduling tool. The method is in particular dedicated to industrial robot systems.

Abstract: The invention concerns a device for the non-contact measurement of the position of the teeth (13) of a workpiece (14) with precut teeth on a gear finishing machine. The measuring probe, retractable from the measuring position into a position of rest protected against soiling, is arranged in a holder (5) for radial and axial adjustment relative to the workpiece, the said holder (5) being a kinematic member of a parallelogram linkage (A) and by means of a hydraulic, pneumatic or electromechanical swivel drive (11) is swivellable from stop to stop between measuring position and position of rest in a plane containing the workpiece axis, such that in the advancement action from the lower end position to the top end position motions of the measuring probe (1) tangential to the workpiece circumference are completely avoided. The parallelogram kinematics moreover afford adequate protection against swarf and grinding dust, and lends the device a high stiffness and reliability.

Abstract: A device for the free-jet ultrasonic testing of a workpiece by the transmission technique includes a first test head, serving as an ultrasound transmitter, and a second test head, serving as an ultrasound receiver. The test heads are respectively disposed on a first robot and a second robot, in each case in a freely movable manner, with at least one degree of freedom, such that they are aligned coaxially in relation to each other and perpendicular to a surface of a workpiece. The robots are positioned such that they are fixed in place on a displaceable common carrier.

Abstract: The present invention provides a long-range, untethered, live, in-pipe inspection system that includes a self-propelled train having a plurality of modules; joint members for interconnecting adjacent modules, data collection components, and wireless communication components for transmitting collected data and receiving control messages. The module-train includes, generally, at least one, and preferably two drive modules, at least one power module and an electronics module. The train may additionally include at least one support module, which may be interposed between the power and electronics modules. In one embodiment of the invention, there are two drive modules, one at each terminal end of the train, two power modules, one adjacent to each drive module, two support modules, one adjacent to each power module, and one central electronics and computing module.

Abstract: An automated inspection system and method enables rapid, remote and non-contact inspection of large objects, utilizing non-destructive inspection techniques, that does not require continuous manual repositioning of the inspection equipment. The inspection system includes a remote controlled robotic vehicle including a sensor package capable of non-destructive inspection of a structure and a mechanism for locating the sensor package at a plurality of inspection sights on the structure; a positioning system for determining the location of the robotic vehicle with respect to the structure to be inspected; a control system for controlling the movement of the robotic vehicle around the structure to be inspected; and an analysis systems for analyzing data generated by the sensor platform.

Abstract: The integrity of control signals used to control a wafer handling robot is monitored by a monitor connected to various points of the robotic control system. The monitor includes a memory for storing data sets representing correct, reference characteristics of the control signals. The monitor samples control signals at various points in the control system and compares these sampled signals with the stored reference characteristics in order to determine whether a signal disparity exists. If a disparity exists, the monitor generates an error.

Abstract: Method for controlling installation of a head stack assembly in a disc drive. The head stack assembly is aligned in a head stack installation tool. A base deck assembly is advanced to the head stack installation tool, the base deck assembly having a post supporting a tolerance ring. A robotic assembly is dispatched to pick and press the head stack assembly onto the tolerance ring and post while mechanical resistance and distance traveled parameters by the head stack assembly are measured. The installation is aborted or completed in relation to the mechanical resistance encountered and the distance traveled, thus allowing use of minimum and maximum force thresholds with respect to insertion distance and assuring correct installation of the head stack assembly.

Abstract: A method for inspecting an aircraft fuselage using an inspection system including a movable detector, wherein the method includes coupling a collision avoidance system to the inspection system detector, monitoring the collision avoidance system during operation of the inspection system, and controlling operation of the inspection system with the collision avoidance system.

Abstract: A robotic inspection system for gas turbine combustion components includes an exterior manipulator for visual inspection of the exterior surface of the impingement sleeve, an interior manipulator for visual inspection of the interior of the transition piece body and an annulus manipulator for inspecting the side weld seams of the transition piece body. The exterior manipulator includes an arcuate segment extending about the annular spaced impingement sleeves and a robotic subassembly including a linear rail and an upper arm and forearm mounting an inspection head pivotally coupled to one another for visual inspection of the top, bottom and side external surfaces of the impingement sleeve. The interior manipulator mounts to the open end of the combustion casing and includes an arm mounted for universal pivotal movement to the mount, actuators for pivoting the arm and motors for extending and rotating an inspection head about pan and tilt axes within the interior of the transition piece body.

Abstract: A robotic assembly (20) is provided which is adapted to traverse the surface of a member (138) for inspection and/or work on or about the surface of the member (138). The preferred assembly (20) includes two or more robots (10a-10c) spaced about the body (138) with a tether assembly (140) interconnecting the robots (10a-10c) in order to hold the latter in tractive engagement with the surface of the body (138). Each of the robots (10a-10c) includes rotatable traction wheel assemblies (16) which are independently controllable through respective drive motors (86), as well as independently controllable takeup reels (98) for adjusting the tension of the tether assembly (140). Each robot (10a-10c) preferably includes an elongated body (12) having four corner-mounted wheel assemblies (16) pivotally secured thereto, and a carriage (14) pivotally coupled to the body for pivoting thereof independently of the wheel assemblies (16) and about an axis transverse to the wheel assembly pivot axes.

Abstract: To improve the reliability, operating speed, size of equipment and economy, a disk coating system for forming a coating on a disk such as a compact disk is arranged to transfer disks to and from a pair of spinners with first and second disk transfer mechanisms. The coating system further has an intermittently rotating turntable, an apparatus for supplying a coating material to each disk on the turntable at a predetermined position, and a system for curing a coating layer on each disk. The spinners for removing an excess amount of the coating material are placed between the turntable and the curing system. The first transfer mechanism is for transferring disks from the turntable to the spinners, and the second transfer mechanism is for transferring disks from the spinners to the curing system. The two spinners are substantially equidistant from a predetermined disk position on the turntable. The first transfer mechanism has two arms extending in two directions diverging from a pivot at a predetermined angle.

Abstract: A robot for carrying out operations in, for example, a chamber of a heat exchanger being divided into two compartments by means of a partition can be attached to said partition by means of suction cups. An accurate vertical movement of the shoulder joint necessitates the application of either two hinges or a double hinge between the robot itself and the suction cups.

Abstract: The invention provides an improved contamination inspecting device which can carry out continuous, automatic inspection of portable articles both large and small regardless of their shape. The device incorporates a conveying means for carrying the articles through the inspection position wherein the speed of the conveying means is varied based on the background radioactivity detected by the plane scintillator, a plane scintillator for detecting radiation from both the background environment and the articles to be inspected, a five-axes gate-type underriding mechanism which incorporates a robot arm so as to enable the plane scintillator to travel along the surfaces of each article, and control means for controlling the speed of the conveying means based on the background radioactivity detected by the plane scintillator and for controlling the five-axis robot based on the shape of the articles to be inspected.

Abstract: A mobile vehicle having at least one endless driven member for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that is housed in a substantially hermetically sealed enclosure and comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The enclosure is pressurized with a pressure medium at a predetermined pressure and temperature and is monitored by sensors within the enclosure.

Abstract: Automated system for trimming and inspecting complex composite aircraft parts. A straight firing abrasive water jet head with integral catcher mounted on a first Z axis slide is numerically controlled on a six axis gantry/water jet manipulator (X, Y, Z, C, A, B axes). A touch probe mounted on a second Z axis slide is used to gauge three part points which establish part orientation in the X, Y, Z gantry/robot cell; also to adjust CNC and CMM part trim/inspection programs to actual part orientation and for peripheral dimensional inspection.

Abstract: A reconfigurable mobile vehicle having at least one endless driven member and a motor for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface.

Abstract: An underwater robot is employed to clean and/or inspect the inner surfaces of high flow rate water inlet pipes for various facilities, such as power plants, water treatment plants, etc. The robot crawls along a cable positioned within a pipe to be inspected or cleaned, and in one embodiment, includes a plurality of guidance fins which rely upon the flow of water through the pipe to position the robot therein as desired. Retractable legs can also be provided to fix the robot at a location within the pipe when it is employed to clean the pipe using a water jet or similar system. The robot can also include a water driven turbine for generating electricity for the various motors, servos and other actuators contained on board the robot. Also, the robot preferably includes wheel or pulley arrangements which further help the robot to negotiate sharp corners or other obstructions within the pipe to be inspected or cleaned.

Abstract: A vehicle of the invention comprises at least two transfer arms including means for causing expansible positioning fingers to penetrate into the tubes of a steam generator and for extracting said fingers from said tubes. The vehicle also includes at least two pivoting fastening heads which contain said expansible positioning fingers. The heads are interconnected by one of the telescopic transfer arms, which arms extend perpendicularly to said pivoting heads. The other telescopic transfer arm is fixed to one of the heads and it extends perpendicularly therefrom with its opposite end carrying a tool support. Such a vehicle is particularly suitable for inspecting and maintaining tubes in tube apparatuses, e.g. the steam generators of pressurized water nuclear reactors.

Abstract: An apparatus is disposed below a tube plate in a chamber of a steam generator which is accessible through a manhole, for examining and/or repairing steam-generator tubes in the tube plate. A tool or inspection-instrument carrier of the apparatus includes a pneumatic swivel cylinder detachably connected to the apparatus. The swivel cylinder has a housing and an output shaft. A feed unit is supported on the output shaft. A flexible shaft is axially movable by the feed unit. A compressed-air motor is associated with the housing for driving the flexible shaft.

Abstract: Disclosed is a system for driving inspection probes through steam generator tubes of a nuclear power plant, particularly eddy current probes. The system utilizes a single conduit that is connectable to the tube sheet of a steam generator and comprises a multiple-unit probe pusher having a housing containing a plurality of independently actuable drive paths, a multiple-unit probe storage device including a plurality of independently movable take-up reels, and a guide or deflector device for directing any one probe that is driven from any one of the drive paths of the probe pusher to the single conduit. Preferably, the entire system is also remotely controllable. The system enables one probe to be in use for tube inspection while providing readily available spare probes to replace a defective probe with a minimum of downtime and worker radiation exposure.

Abstract: A system for the semiautomatic inspection of printed circuits on silicon wafers and other similar micro-electronic products which comprises in combination a floating table supporting a robot arm which has the function of grabbing a single wafer from a cassette in which it is housed, inverting same, or assuming a position with its axis defining the Y-axis of the scanning system, and of moving in this direction; and of placing after inspection such wafer in another cassette according to the grade it received; an optical inspection device, such as optical microscope combined with a TV camera or the like attached to said same table, said microscope being adapted to move in the direction of the X-coordinate of the inspection system, there being provided means for aligning the direction of the printed circuit with the X-Y coordinates of the scanning system. A sophisticated optoscanner system is used for the alignment of the wafer and for establishing its exact position.

Abstract: A method and apparatus for providing an automated optical robotic polishing system for removing flaws in transparencies, such as transparent canopies used in aircraft. A pneumatic random orbital polishing tool attached to a robot arm is used to polish canopies to remove flaws. The flaws are removed by grinding the area surrounding the flaw and smoothing the flaw site to conform to the contour of the canopy. To identify optimum motions for the polishing tool for grinding to remove the bulk of the plastic material around a flaw, mathematical topology simulation techniques are implemented using various polishing pad pressure profiles and various polishing motions.

Abstract: A system (10) for lancing sludge deposits (12) from within a bundle (14) of vertically extending steam generator tubes (16) of a PWR steam generator secondary side assembly (18) has a flexible lance (28) mounted in a lance guide/housing transporter (30). The transporter (30) is movable along blowdown lane (20) to position end (32) of the flexible lance opposite one of the inter-tube lanes (26) so that the flexible lance (28) may be inserted along the selected inter-tube lane (26). A rigid lance guide (34) on the transporter (30) has a curved end (36) configured to turn the flexible lance (28) at a chosen angle, such as 90.degree., so that the flexible lance (28) will be fed into the selected inter-tube lane (26). The transporter has a drive (37) for advancing the flexible lance (28) through end (36) of the lance guide (34) and into the inter-tube lane (26).

Abstract: Methods for supplying a foodstuff sample for microbiological testing comprise supplying the sample in a plastic bag, adding physiological nutrient solution to the sample in a specified weight ratio, mechanically comminuting and homogenizing the contents of the bag, and removing a partial quantity of the contents of the bag by means of pipette via a filter as sample liquid. The methods further comprise injecting the same liquid onto at least one nutrient medium situated in a petri dish and inserting the injected petri dish into an incubator. In the communution and homogenization of the contents of the bag, the bag is clamped shut and pressed between a fixed jaw and two jaws which oscillate alternately. In the injection of the nutrient medium, the sample liquid is injected in a spiral shape onto the nutrient medium. Additionally, a laboratory robot system is employed.

Abstract: An apparatus for the inspection and/or repair of tubes discharging into a chamber of a heat exchanger includes a tube sensor. A manipulator provides remote-controlled positioning of the tube sensor. A plurality of mouthpieces disposed on the manipulator introduces the sensor into tubes of a heat exchanger. Tube connectors communicate with the mouthpieces and have two ends. One of the ends of the tube connectors is coaxially attachable to orifices of the tubes of the heat exchanger. The other of the ends of the tube connectors are bundled into a circular group at an adaptor. A distributor plate has orifices into each of which a respective one of the tube connectors discharge. A parallel turntable is supported on the distributor plate. A guide hose is introduced into the turntable for guiding the tube sensor. Incremental rotation of the turntable selectively aligns the axis of the guide hose with the axis of one of the orifices in the distributor plate.

Abstract: An electronic parts engaging apparatus is equipped with a parts feed portion having a plurality of parts feed devices disposed to feed, for each type of part, parts having marks indicating their separate type. A suction nozzle is composed of a light transmitting material. A recognition device recognizes the parts through the suction nozzle. A memory stores the types of the parts of the respective parts feed devices in the parts feed portion. A control stores in the memory the types of the parts found through the recognition of the marks of the parts of the respective parts feed devices with the recognition device. A periodical washing operation has an effect in that the control operation is simplified.

Abstract: A system for working on the water box of a nuclear power station steam generator comprises a first member having a substantially elongate shape and forming a first arm of the system and a second member having a substantially elongate shape. The second member is articulated at one end to one end of the first member. The combination of the first and second arms is adapted to be inserted into the water box of the steam generator through the manhole. The second member may be moved to a deployed position relative to the first member. A vehicle mounted on and mobile relative to the second arm is used to scan and decontaminate the various parts of the water box of the steam generator. A working device such as a decontamination device is carried by the vehicle. It is able to reach a plurality of areas on the internal surface of the steam generator. A remote control system is provided for the vehicle and the working device.

Abstract: An apparatus for introducing and/or positioning a device in a chamber of a heat exchanger includes an assembly yoke with ends and a middle. The yoke may manually be introduced into the chamber of the heat exchanger with a pole. At least three remotely-actuatable clamping fingers are disposed on the assembly yoke. The clamping fingers are designed such that they may be locked or braced in tubes of the heat exchanger. For this purpose, respective locking devices that are remotely controllable may be used. A lifting cylinder holds one of the clamping fingers at least approximately at the middle of the yoke. Remotely-actuatable clamping devices each hold at least one of the clamping fingers on a respective one of the ends of the yoke. Toothed belts each have an end connected to a respective one of the clamping fingers positioned on the ends of the yoke. Two synchronously controllable elevators each have a toothed belt drive in engagement with a respective one of the toothed belts.

Abstract: The invention provides a method of positioning a robot intended to perform inspection and maintenance operations within a nuclear plant, and especially within a vessel of a pressurized-water reactor. The robot, which comprises an articulated arm, is controlled so that it initially attaches its head at one end of the arm to a support point having known coordinates. Then, supported on this point, the robot brings and attaches a foot-plate at the other end of the arm to a working support position having known coordinates adjacent the access opening of the vessel. The head is then released and the robot operated to move and position the head through the access opening and into the operating zone in the vessel.

Abstract: An ultrasonic scanning system for testing large curved components of fiber/resin matrix composite material, the system ultrasonically testing these components with water jet probes caliper-mounted on the working arm of an industrial robot. The computer reads CAD data appertaining to the component, transfers it to robot-compatible form and delivers it on demand to the robot computer. The computer also reads the data output from the probe and reconciles it with the CAD data to yield as an output a quality map of the component. Instantaneous probe position on the surface of the work piece is computed from data on the starting position of the scanning movement of the probe, and the scanning velocity of the probe.

Abstract: An apparatus by which a sensor holder of a surface testing apparatus can be moved along a preselected path of movement over the surface to be examined. The apparatus has a guide rail establishing the path of movement, which can emulate the contour of the surface and on which the sensor holder is supported.

Abstract: In the automated performance of multiple measurements on each of a succession of workpieces, the invention contemplates establishing a plurality of safety-reference positions (S.sub.1 to S.sub.7) along the programmed displacement path intended for the probe head (10) and its work-contacting probe pin. Any one of a variety of error signals developed in the course of conducting the measurement program on a given workpiece is operative to temporarily stop further conduct of the program and to instigate a repeated attempt to successfully traverse the part of the program in which the error signal occurred.

Abstract: A submersible ROV removes extraneous material from the surface of submerged metal with a cleaning tool and measures the thickness of the metal with an ultrasonic probe. A camera allows visual operation of the ROV. The cleaning tool and ultrasonic probe can reach areas of limited access making the ROV useful for inspecting the interior of holding tanks. A submersible, electrical power supply can be combined with the ROV to provide an intrinsically safe system which is particularly useful in environments where sparks pose a substantial hazard.

Abstract: Metrological apparatus, particularly for measuring form, has a turntable 4 and a transducer 14 and associated stylus 12 mounted so that the tip 12a of the stylus is displaceable radially and vertically relative to the turntable 4. The problem of obtaining both high resolution and large range of operation is solved by using a transducer/stylus 12,14 having a resolution of 12 nanometers and a range of only 0.4 mm and mounting the transducer 14 on an arm 10 which is driven radially and/or vertically by a computer 30 in response to the output from the transducer 14 to cause the stylus 12 to follow the workpiece surface. High resolution data defining the rotary position of the turntable 4 and the radial and vertical position of the transducer 14 is provided by a photodetector/optical grating arrangement 23, 21, 31; 27, 19, 43 and associated interpolators 42, 44, 46.

Abstract: In a process for checking and/or adjustment and/or assembly of valves, in particular electronically controlled injection valves for internal combustion engines, in which the valves are conveyed along a test line having successive test stands, a test line that is fully automatic and thus free from disturbing effects of manual or semi-manual operation, with optimized flow of material and objective measurement or test results, can be obtained by coordinating computer-controlled transport systems with one another and with computer-controlled test stands by use of a higher-level control.

Abstract: A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.