Disclosed is an apparatus that includes an electric power source that powers a Marx generator that is electrically coupled to a cathode emitter that is configured to discharge electrical potential into the earth. The apparatus also includes a load resistor that is coupled between the output of the Marx generator and either a relative ground or the input to the Marx generator.

Disclosed is an apparatus that includes an electric power source that powers a Marx generator that is electrically coupled to a cathode emitter that is configured to discharge electrical potential into the earth. The apparatus also includes a load resistor that is coupled between the output of the Marx generator and either a relative ground or the input to the Marx generator.

An explosive device detection and expulsion system broadly comprising a detection subsystem for sensing an IED attached to a vehicle and an expulsion subsystem for expelling the IED from the vehicle. The detection subsystem includes a sensor for detecting an IED via an electromagnetic field change or capacitance change, vibrations, and/or heat, and a controller for activating the expulsion subsystem upon receiving a detection signal from the sensor. The expulsion subsystem includes a deployable panel configured to be attached to the vehicle and a deployable mechanism for shifting the deployable panel from an undeployed state to a deployed state so as to expel the IED from the vehicle.

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).

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).

Provided is a telerobotic mining device for underground mining, and specifically for stope mining, as well as a method of mining using such a device. The telerobitic mining device is capable of remotely moving about a mine and utilizing drill arms to drill a hole within a chosen rock bed. Explosive placement arms on the telerobot may be utilized to place an explosive within the drilled hole to blast away rock. Control over the device is achieved by way of operational commands that may be wirelessly sent to the device from a command center located outside the mine.

An explosive device detection and expulsion system broadly comprising a detection subsystem for sensing an IED attached to a vehicle and an expulsion subsystem for expelling the IED from the vehicle. The detection subsystem includes a sensor for detecting an IED via an electromagnetic field change or capacitance change, vibrations, and/or heat, and a controller for activating the expulsion subsystem upon receiving a detection signal from the sensor. The expulsion subsystem includes a deployable panel configured to be attached to the vehicle and a deployable mechanism for shifting the deployable panel from an undeployed state to a deployed state so as to expel the IED from the vehicle.

Disclosed is an apparatus that includes an electric power source that powers a Marx generator that is electrically coupled to a cathode emitter that is configured to discharge electrical potential into the earth. The apparatus also includes a load resistor that is coupled between the output of the Marx generator and either a relative ground or the input to the Marx generator.

Disclosed is an apparatus that includes an electric power source that powers a Marx generator that is electrically coupled to a cathode emitter that is configured to discharge electrical potential into the earth. The apparatus also includes a load resistor that is coupled between the output of the Marx generator and either a relative ground or the input to the Marx generator.

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).