A control system for a solar energy system causes motor assemblies to pivot the photovoltaic (PV) arrays of the solar energy system about respective longitudinal axes, e.g., to track the sun across the sky. The solar energy system also has an inverter with a known inverter rating, e.g., for a given output level and ambient temperature. The control system is programmed, inter alia, to determine when a calculated electrical output of the PV arrays, e.g., a future electrical output during an imminent future time period, exceeds the inverter rating. The control system then causes some or all of the PV arrays to pivot out of regular solar tracking mode into a position that introduces higher cosine losses, so as to reduce real-time electrical output from at least the direct normal component of real-time solar irradiance incident on the PV arrays involved in order not to exceed the inverter rating, or to exceed it less.

Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

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 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 landing gear actuation system is disclosed herein. The landing gear actuation system includes a trunnion sprocket coupled to a movable member, a drive motor, and a flexible drive member extending between and to the motor and the trunnion sprocket. The motor is configured to move the flexible drive member, wherein the movement of the flexible drive member moves the trunnion sprocket and the movable member. The flexible drive member may be a belt or a chain.

A power transmission drive includes a force amplifier configured to increase power output of at least one motor. The force amplifier includes a first pulley set and a second pulley set, each pulley set including at least one floating pulley and at least one fixed pulley. The first pulley set and the second pulley set are coupled to one or more motors by a corresponding force amplification fiber in tension. Actuation of the one or more motors actuate the first pulley set and the second pulley set. The first pulley set and the second pulley set transmit the force applied by the one or more motors to an output component.

A drive for a harmonic gear assembly, comprising an input shaft having a shaft axis (A) and an epicyclic carrier unit removably mounted around, and coaxial with the input shaft, the epicyclic carrier unit comprising a carrier having an interior circumference designed to match the outer circumference of the shaft and further comprising a first roller assembly mounted at a first location around the circumference of the carrier unit and comprising a first roller shaft extending substantially parallel to the shaft axis and a first roller rotatably mounted around the first rotor shaft, and a second roller assembly mounted at a second location around the circumference of the carrier unit and comprising a second roller shaft extending substantially parallel to the shaft axis and a second roller rotatably mounted around the second rotor shaft, the first and second rollers extending radially outwards from the carrier to define a major axis between the radially outer surfaces of the first and second rollers, and wherein the outer surface of the carrier unit at locations other than the first and second locations defines a minor axis.

The herein invention presents new technologies for superior performance in bicycles, other human powered vehicles, and other mechanical systems; based on Wide Range Linear to Exponential CVT technology, Energy Saving Geometries, Short Stroke Independent Pedaling, and Reduced Friction Ball Bearings. Said new technologies are superior to prior art technologies in that they enable greater efficiency in the application of power and markedly reduce energy consumption, resulting in higher top speeds as well as much greater hill climbing power.

A robot arm including a rotating body connected to a base, an arm rotating about a central axis of the rotating body, a moving pulley provided at the arm and revolving along a circular track which is concentric with the rotating body, a reference pulley provided at the base and positioned on an inner side with respect to the circular track, a spring embedded in the arm and compressed or stretched in a lengthwise direction of the arm, a string compressing the spring and wound around the moving pulley and the reference pulley, and a plurality of roller bearings arranged to be spaced apart from each other along an outer circumference of the rotating body, rotating about a rotation axis parallel to the central axis of the rotating body, and configured to be in contact with the string is provided.

A transmission apparatus for a leveraged wheelchair may include a wheelchair, a driving mechanism, a driving wheels set, and a transmission wheels set. The driving mechanism has a first tube and a second tube which are pivotally connected, and with the relative movements between the first tube and the second tube, the driving wheels set can have forward or rearward rotation so as to achieve bi-direction driving effect of the wheelchair. Also, the relative movement between the first tube and the second tube is cooperated with a flexible connecting head such that a handle of the wheelchair is adapted to be forward and rearward pulled or rotated axially so to achieve the moving and turning actions of the wheelchair with one hand.