A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

A turning apparatus includes: an electric motor; a pinion gear that rotationally drives a wheel gear provided in a rotor in a first rotation direction and moves to a first position where the pinion gear can transmit a rotation of the electric motor to the wheel gear and a second position where the pinion gear cannot transmit the rotation of the electric motor to the wheel gear; a current value detection unit that detects a current value of the electric motor in a state where the pinion gear is positioned at the first position; and a control device that controls the electric motor to rotate the pinion gear in a second rotation direction opposite to the first rotation direction based on the current value detected by the current value detection unit.

A turning apparatus includes: an electric motor; a pinion gear that rotationally drives a wheel gear provided in a rotor in a first rotation direction and moves to a first position where the pinion gear can transmit a rotation of the electric motor to the wheel gear and a second position where the pinion gear cannot transmit the rotation of the electric motor to the wheel gear; a current value detection unit that detects a current value of the electric motor in a state where the pinion gear is positioned at the first position; and a control device that controls the electric motor to rotate the pinion gear in a second rotation direction opposite to the first rotation direction based on the current value detected by the current value detection unit.

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.

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.

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.

An electric booster and master brake cylinder assembly includes a master cylinder housing, a booster housing, a primary piston, and a ball screw assembly. The master cylinder housing defines a piston bore. The booster housing is attached to the master cylinder housing and defines a bore. The primary piston is slidably positioned within the piston bore and has an axially extending end portion that extends into the bore. The ball screw assembly is at least partially disposed within the bore of the booster housing.

An electric booster and master brake cylinder assembly includes a master cylinder housing, a booster housing, a primary piston, and a ball screw assembly. The master cylinder housing defines a piston bore. The booster housing is attached to the master cylinder housing and defines a bore. The primary piston is slidably positioned within the piston bore and has an axially extending end portion that extends into the bore. The ball screw assembly is at least partially disposed within the bore of the booster housing.