A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.

Transfer system for sealed enclosure, said sealed enclosure defining a first closed volume and comprising at least one device for sealed connection to a second closed volume, said transfer system being intended to be arranged in said enclosure (E) and to be fixed to a wall thereof, said transfer system comprising at least one arm, a first rotating hinge between the arm intended to be arranged between the arm and said wall of the enclosure, said first rotating hinge comprising a first axis of rotation, a chute and a second rotating hinge between the arm and the chute, said second rotating hinge comprising a second axis of rotation, the chute comprising a docking edge configured to cooperate with the device for sealed connection.

Apparatus for spraying a material on a surface comprises at least one elongate member (408) having a distal end and a proximal end, at least one spray nozzle (1404) mounted at the distal end of the elongate member for spraying the material in a spray pattern, a ground-engaging member (1420) mounted at the distal end of the elongate member and arranged to facilitate translational movement of the apparatus over a ground surface, a camera (1406) mounted at the distal end of the elongate member (1408) and connected to a camera output, the camera being arranged for capturing images of the spray pattern and the camera output being arranged to facilitate the viewing of images of the spray pattern from the proximal end of the elongate member, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.

A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.

A port structure of a containment apparatus is capable of providing a highly reliable port by means of a structure with which a port can be formed in any size at any position and high airtightness thereof can be maintained. The port structure has: a port formation hole that is formed in a transparent synthetic resin sheet defining at least a part of a chamber; an inner ring member disposed on the inner surface side of the port formation hole; an outer ring member disposed on the outer surface side of the port formation hole; and a fastening member that joins the inner ring member and the outer ring member to each other while having a rim portion of the port formation hole held therebetween.

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

A movable manipulator assembly for manipulating an article in a controlled environment chamber, including a support for attaching the manipulator assembly in a gas tight manner to an entry port of a controlled environment chamber and externally with respect to the chamber, a ball joint including a central passage, sealingly seated in the support, for permitting three axis movement of the manipulator assembly while maintaining a gas seal, a manipulator arm extending from the ball joint externally with respect to the chamber, the arm including a central passage aligned with the central passage of the ball joint, the arm further including a closable entry port through which the central passage of the manipulator arm can be accessed, and a gimbaled bearing assembly connected to the manipulator arm for three axis movement of the arm.