An actuator device includes a cartwheel flexure having a central moving carriage component configured for parallel motion along an axis of the actuator device. A frame is configured to remain stationary relative to the central moving carriage component. A plurality of cross-beams flexibly support the central moving carriage from the frame, wherein the plurality of cross-beams provide flexibility for movement of the central moving carriage relative to the frame along the axis and provide rigidity in other directions.

An actuator device includes a cartwheel flexure having a central moving carriage component configured for parallel motion along an axis of the actuator device. A frame is configured to remain stationary relative to the central moving carriage component. A plurality of cross-beams flexibly support the central moving carriage from the frame, wherein the plurality of cross-beams provide flexibility for movement of the central moving carriage relative to the frame along the axis and provide rigidity in other directions.

A self-locking apparatus for a gear set permits forward-driving an input in clockwise or counterclockwise directions and substantially prevents an output from being driven in either or both of those directions. The device includes a gear set with planet gears arranged within a planet carrier within a fixed ring gear. Each of the planet gears is engaged with the planet carrier via a differentiating connector retained in an elongated slot in the planet carrier where it moves to the clockwise position when being forward driven in the clockwise direction and, when the planet carrier is back driven in the clockwise direction, the connector moves to the counter-clockwise position in the slot. This arrangement allows the gear set to be forward driven but not back driven. This differentiated action can engage/disengage with any form of unidirectional engage/disengage mechanism. The apparatus is useful in industrial applications requiring self-locking gear sets.

A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

A projector is configured to project an image to one side with respect to an installation surface. The projector includes: a housing that is configured to be fixed to the installation surface, a projection section that is built in the housing and configured to project image light from one end of the housing, an adjustment mechanism that is configured to adjust a posture of the projection section with respect to the installation surface, a drive section that is configured to drive the adjustment mechanism, and an operation detecting section configured to detect an input operation corresponding to the adjustment mechanism.

A projector is configured to project an image to one side with respect to an installation surface. The projector includes: a housing that is configured to be fixed to the installation surface, a projection section that is built in the housing and configured to project image light from one end of the housing, an adjustment mechanism that is configured to adjust a posture of the projection section with respect to the installation surface, a drive section that is configured to drive the adjustment mechanism, and an operation detecting section configured to detect an input operation corresponding to the adjustment mechanism.

The present system for fall restraint includes a mounting frame connected to a trigger mechanism and firing blocks, with a trigger cable extending through apertures in the mounting frame and trigger mechanism. Sudden movement by a user, such as a fall, actuates the trigger mechanism to trigger the firing blocks. The firing blocks are loaded with anchors and firing cartridges. Triggering the firing blocks causes the cartridges to fire, propelling the anchors into an anchoring surface, such as a roof. Because the user is connected to the trigger cable, once the anchors deploy the user is anchored to the roof and their fall arrested.