Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

A simulation laser training cartridge for dry-firing practice adapts to the wear condition of a given firearm and provides a convenient way of measuring the barrel erosion. The cartridge uses multiple adjustable interfacing parts that can be applied selectively and independently according to the condition of the barrel to ensure a snug fit in 3-dimensions. In a 2-unit kit embodiment of the invention, the muzzle unit can work with multiple chamber units for a multi-chamber firearm. The cartridge also includes internal modules for laser property management, status monitoring, movement tracking, memory, and communication to help a user manage the device and allow for advanced training applications. By changing the laser property, the laser training cartridge can work as a bore sight. The cartridge may further include a means to attach an external part, so the external part comprises a means to distinguish a longitudinal position inside said barrel.

A simulation laser training cartridge for dry-firing practice adapts to the wear condition of a given firearm and provides a convenient way of measuring the barrel erosion. The cartridge uses multiple adjustable interfacing parts that can be applied selectively and independently according to the condition of the barrel to ensure a snug fit in 3-dimensions. In a 2-unit kit embodiment of the invention, the muzzle unit can work with multiple chamber units for a multi-chamber firearm. The cartridge also includes internal modules for laser property management, status monitoring, movement tracking, memory, and communication to help a user manage the device and allow for advanced training applications. By changing the laser property, the laser training cartridge can work as a bore sight. The cartridge may further include a means to attach an external part, so the external part comprises a means to distinguish a longitudinal position inside said barrel.

A process that uses a lodged projectile removal charge (LPRC) apparatus to remove a projectile jammed in a cannon's gun tube. The LPRC is positioned coaxially and offset from the projectile, and the gun tube is filled with water. The charge is detonated producing a shock wave that disintegrates the LPRC apparatus and pressurizes the water. The pressurized water produces a radial hydraulic force against an interior wall of the gun tube, an axial hydraulic force against the projectile pushing the projectile toward the chamber, and produces an opposing expansion of explosive gases that blasts out most of the water in the gun tube. The process is less likely to damage the gun tube. The LPRC may be made using a 3D printer.

An optical, manually held testing device for firearms with one or more light-reflective mirror surfaces for at least partial insertion into an opening of the firearm. Incident light can be directed into the cavity for checking by eye the completeness of weapon cleaning. The mirror surface or surface area has a narrow and/or elongated shape. As a result, the test device can be held by one hand in the narrow opening of a cartridge chamber or a gun barrel. The narrower the tester, the easier it can be to illuminate inaccessible corners and angles inside the firearm. Because of the elongated shape of the mirror device, the available reflective surface can be made sufficiently large so that sufficient light can be reflected or refracted. By maximizing the amount of mirror surface on the tester, a correspondingly maximized amount of light can be directed into the cavity of the firearm to be examined.

An optical, manually held testing device for firearms with one or more light-reflective mirror surfaces for at least partial insertion into an opening of the firearm. Incident light can be directed into the cavity for checking by eye the completeness of weapon cleaning. The mirror surface or surface area has a narrow and/or elongated shape. As a result, the test device can be held by one hand in the narrow opening of a cartridge chamber or a gun barrel. The narrower the tester, the easier it can be to illuminate inaccessible corners and angles inside the firearm. Because of the elongated shape of the mirror device, the available reflective surface can be made sufficiently large so that sufficient light can be reflected or refracted. By maximizing the amount of mirror surface on the tester, a correspondingly maximized amount of light can be directed into the cavity of the firearm to be examined.

A test fixture for testing firearms or ammunition includes a base, a block, and a firing pin. The base has a lateral channel defining a front upright and a rear upright. The front upright is configured to support a firearm barrel. The block is rotatable within the lateral channel between an open position and a closed position. The open position provides user access to the firearm barrel. The firing pin is housed in the block. The closed position of the block aligns the firing pin with the firearm barrel.

A test fixture for testing firearms or ammunition includes a base, a block, and a firing pin. The base has a lateral channel defining a front upright and a rear upright. The front upright is configured to support a firearm barrel. The block is rotatable within the lateral channel between an open position and a closed position. The open position provides user access to the firearm barrel. The firing pin is housed in the block. The closed position of the block aligns the firing pin with the firearm barrel.

A strut tool including a hook portion for engaging an upper receiver assembly and a pivoting portion for engaging the takedown pin of a lower receiver assembly of a firearm that acts as a removable strut for holding the upper and lower receiver assemblies in a relatively aligned open angular position providing access to the inner bores and mechanisms of the firearm. The pivoting portion includes a bore accommodating the placement of the takedown pin in conjunction with the lower receiver assembly providing a pivotal connection permitting the angular alignment of the upper and lower receiver assemblies in an open and fixed position. The hook portion includes a takedown block engagement region that provides a means to accommodate the insertion and engagement of the takedown block present on the upper receiver assembly for the purpose of reversibly positioning and holding the strut tool in said relatively aligned position with respect to the lower receiver assembly. The hook portion optionally includes a upper channel with a longitudinal and semi-circular cutout region providing a guide slot for the relative positioning of cleaning and inspection tools with respect to the inner bore or breach of a rifle.

In one aspect, a sensor system for advanced smart weapons barrels includes one or more sensors, the sensors connected to a processor by way of conductive elements. The smart weapons barrel system may include one or more barrel segments, such segments being removably attached to each other. In certain embodiments, the sensors are positioned along the barrel segments and generate an electrical signal in response to a projectile being fired by the host firearm as the projectile moves past the respective sensor. The processor receives raw data from the sensor signal and may extrapolate and/or calculate further information in order to determine any number of a variety of metrics or other data analysis, including, but not limited to, round count projectile velocity, rate of fire, etc.