Aspects of the disclosure include apparatus for and methods of facilitating transfer of objects using a crane. Disclosed apparatuses include a target tracking device mounted on or near a crane at a first location, and a target located near a landing location for the object. The target tracking device and the target facilitate real time determination of relative motion between the two locations. Methods of using the same are also disclosed.

Aspects of the disclosure include apparatus for and methods of facilitating transfer of objects using a crane. Disclosed apparatuses include a target tracking device mounted on or near a crane at a first location, and a target located near a landing location for the object. The target tracking device and the target facilitate real time determination of relative motion between the two locations. Methods of using the same are also disclosed.

A crane hook rotation-limiting device includes a mounting base and a plunger extending through a hole formed in the mounting base so as to be movable with respect to the mounting base. A spring first bearing portion is connected to the plunger so as to be movable with the plunger. A spring second bearing portion is positioned opposite the spring first bearing portion so as to be fixed with respect to the plunger during movement of the plunger. A spring member extends between the spring first bearing portion and the spring second bearing portion. A pair of crane hook rotation-limiting devices as described herein may be mounted to a crane hook assembly to control rotation of the crane hook during movement of the hook when the hook supports a sling spreader or a sling spreader and a die (or other item of tooling).

A crane hook rotation-limiting device includes a mounting base and a plunger extending through a hole formed in the mounting base so as to be movable with respect to the mounting base. A spring first bearing portion is connected to the plunger so as to be movable with the plunger. A spring second bearing portion is positioned opposite the spring first bearing portion so as to be fixed with respect to the plunger during movement of the plunger. A spring member extends between the spring first bearing portion and the spring second bearing portion. A pair of crane hook rotation-limiting devices as described herein may be mounted to a crane hook assembly to control rotation of the crane hook during movement of the hook when the hook supports a sling spreader or a sling spreader and a die (or other item of tooling).

A damping mechanism may comprise a housing, a shaft, a spring arm assembly including a first spring arm, wherein the spring arm assembly is coupled to the shaft and configured to rotate in response to a rotation of the shaft, wherein the first spring arm extends relatively radially outward of the spring arm assembly toward the housing in response to the rotation of the shaft, and wherein the rotation of the shaft is damped in response to extending the first spring arm.

A damping mechanism may comprise a housing, a shaft, a spring arm assembly including a first spring arm, wherein the spring arm assembly is coupled to the shaft and configured to rotate in response to a rotation of the shaft, wherein the first spring arm extends relatively radially outward of the spring arm assembly toward the housing in response to the rotation of the shaft, and wherein the rotation of the shaft is damped in response to extending the first spring arm.

A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with an aerial robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the aerial robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A separate coordination computer runs control software that communicates with both the laser tracker and the aerial robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the aerial robot, and the actions to be taken.

In one implementation, a casket lowering system is configured to enable the lowering of a casket into a grave and includes: a casket support system configured to support the casket and temporarily suspend the casket above the grave; an electrically-actuated brake assembly coupled to the casket support system and configured to control the rate of descent of the casket support system into the grave; and a rechargeable power source electrically coupled to the electrically-actuated brake assembly and configured to provide electrical energy to the electrically-actuated brake assembly.

In one implementation, an electrically-actuated brake assembly is configured to control a rate of descent of an object to be lowered and includes: one or more rotatable surfaces coupled to the object to be lowered; one or more stationary surfaces configured to releasably engage the one or more rotatable surfaces; an electric actuator system configured to selectively disengage the one or more stationary surfaces from the one or more rotatable surfaces, thus allowing the one or more rotatable surfaces to rotate with respect to the one or more stationary surfaces and enable the object to be lowered; and a rechargeable power source electrically coupled to the electric actuator system and configured to provide electrical energy to the electric actuator system.

In one implementation, an electrically-actuated brake assembly is configured to control a rate of descent of an object to be lowered and includes: one or more rotatable surfaces coupled to the object to be lowered; one or more stationary surfaces configured to releasably engage the one or more rotatable surfaces; an electric actuator system configured to selectively disengage the one or more stationary surfaces from the one or more rotatable surfaces, thus allowing the one or more rotatable surfaces to rotate with respect to the one or more stationary surfaces and enable the object to be lowered; and a rechargeable power source electrically coupled to the electric actuator system and configured to provide electrical energy to the electric actuator system.