A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Disclosed is an electric starter with a manual turning function. A main shaft, a drive gear mechanism, a shift fork, an electromagnetic relay guide rod and a first return spring are arranged in a housing of the electric starter. A gear shifting mechanism comprises a force receiving component which extends out of the housing of the electric starter and serves as an external force applying point so as to promote the electromagnetic relay guide rod to move rightwards, a normally closed switch for cutting off a power supply of the electric starter when the force receiving component moves to an extreme position, a positioning component for locking the force receiving component when the force receiving component moves to the extreme position, and a first return component which enables the force receiving component to automatically returns to an original state when the force receiving component is unlocked. The main shaft is indirectly driven to rotate by the turning mechanism via a transmission mechanism or directly driven to rotate by the turning mechanism via a turning tool. An improvement is made to a structure of a traditional electric starter without affecting existing functions thereof, i.e., a function of manual turning is added. Therefore, a flywheel gear of a motor can be precisely positioned during maintenance so as to improve efficiency and eliminate potential safety hazards.

Disclosed is an electric starter with a manual turning function. A main shaft, a drive gear mechanism, a shift fork, an electromagnetic relay guide rod and a first return spring are arranged in a housing of the electric starter. A gear shifting mechanism comprises a force receiving component which extends out of the housing of the electric starter and serves as an external force applying point so as to promote the electromagnetic relay guide rod to move rightwards, a normally closed switch for cutting off a power supply of the electric starter when the force receiving component moves to an extreme position, a positioning component for locking the force receiving component when the force receiving component moves to the extreme position, and a first return component which enables the force receiving component to automatically returns to an original state when the force receiving component is unlocked. The main shaft is indirectly driven to rotate by the turning mechanism via a transmission mechanism or directly driven to rotate by the turning mechanism via a turning tool. An improvement is made to a structure of a traditional electric starter without affecting existing functions thereof, i.e., a function of manual turning is added. Therefore, a flywheel gear of a motor can be precisely positioned during maintenance so as to improve efficiency and eliminate potential safety hazards.

An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.

An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.

A drive assembly utilized in combination with slide out includes a beam attached to a beam guide in an arcuate support rail that is attached to the slide out. The beam may have a first row of teeth and a second row of teeth thereon, where the first row of teeth and the second row of teeth extend parallel to each other on opposite sides of the beam. In addition, the teeth in the first row of teeth are offset relative to the teeth in the second row of teeth. The drive assembly further includes a drive gear having a first gear wheel that engages the first row of teeth and a second gear wheel that engages the second row of teeth, as well as an actuator coupled to the beam to selectively extend and retract the beam. The beam may deflect with respect to the arcuate support rail based on its location and the location of the beam guide to aid in leveling of the slide out.

A drive assembly utilized in combination with slide out includes a beam attached to a beam guide in an arcuate support rail that is attached to the slide out. The beam may have a first row of teeth and a second row of teeth thereon, where the first row of teeth and the second row of teeth extend parallel to each other on opposite sides of the beam. In addition, the teeth in the first row of teeth are offset relative to the teeth in the second row of teeth. The drive assembly further includes a drive gear having a first gear wheel that engages the first row of teeth and a second gear wheel that engages the second row of teeth, as well as an actuator coupled to the beam to selectively extend and retract the beam. The beam may deflect with respect to the arcuate support rail based on its location and the location of the beam guide to aid in leveling of the slide out.

An actuator assembly for adjusting attributes of an antenna array. The actuator assembly provides a multi-RET actuator including a plurality of linear actuators, each including an actuator spur gear, a carriage assembly with an actuator drive motor mounted on a car and a nut attached to the car. A positioning motor is coupled to a lead screw and the nut is threaded onto the lead screw. The car travels on a guide so that the positioning motor and lead screw may be operated to bring the carriage assembly into engagement with a desired one of the linear actuators.

An actuator assembly for adjusting attributes of an antenna array. The actuator assembly provides a multi-RET actuator including a plurality of linear actuators, each including an actuator spur gear, a carriage assembly with an actuator drive motor mounted on a car and a nut attached to the car. A positioning motor is coupled to a lead screw and the nut is threaded onto the lead screw. The car travels on a guide so that the positioning motor and lead screw may be operated to bring the carriage assembly into engagement with a desired one of the linear actuators.

A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.