The Consumer's Gas Company Ltd.

Engineering Services Inc.

Northern Telecom Limited

Gas Technology Institute

Consolidated Edison Company of New York, Inc.

Redwall Engineering Corp.

Pawel Kuzan

Jacek A Wiercienski

Andrew A Goldenberg

Nenad M Kircanski

Dennis R Jarnecke

Andrew Emili

Daniel Meidan

Lawrence Gryniewski

Bruce L Godkin

W Warren Milne

Chin Zhou

Gordon D Scott

Raymond Hui

Krzysztof F Szymczyk

A mobile robot communication system includes a remote unit, a repeater module and a control station. A cable connects the repeater module to the control station. The remote unit has a wireless receiver/transmitter for sending and receiving commands. The repeater module has a wireless receiver/transmitter for sending and receiving commands from the mobile unit. The control station is operable in communication with the repeater module for remotely sending and receiving signals. The cable is attached between the repeater module and control station for transmitting signals therebetween.

Mobile robot hybrid communication link

A tracer wire connector () having two parts, a main body () and a cover (). The main body includes a base () and a raised portion () connected with the base, the raised portion forming a first groove () extending from one side of the base to an opposite side of the base, the raised portion forming an at least partially closed bore () having a closed off end () extending parallel to the first groove, and the raised portion forming a second groove () traversing the first groove and the bore. The cover forms a cavity () adapted to receive the main body and includes at least one cutting element () disposed within the cavity aligned to fit into the second groove upon insertion of the main body into the cover. Disposed within the cover is a displaceable insulating material which is displaced to fill empty space within the connector upon insertion of the main body into the cover.

Direct bury tracer wire connector

An automatic sample loader is for use in association with a mass spectrometer and at least one vial containing a sample. The loader includes a vial block, an insertion head, an insertion tube, a mechanism for pushing the sample out of the vial and a mechanism for moving the insertion head relative to the vial. The vial block has at least one vial cavity and each vial cavity is adapted to receive a vial. The insertion head is adapted to be sealingly engageable in the vial cavity. The insertion tube is operably connected to the mass spectrometer through the insertion head, such that the tube extends into the vial when the insertion head is sealingly engaged in the vial cavity. The pushing mechanism is adapted to push the sample out of the vial and into the tube. The moving mechanism is adapted to move the insertion head relative to the vial block from an engaged position to a disengaged position.

Automatic sample loader for use with a mass spectrometer

A device for repairing a pipe internally includes a body and a drill assembly mounted on the body. The drill assembly has upper and lower arms, pivotable between a closed position in which the arms occupy a radial area not substantially greater than a diameter of the body and an open position in which the arms bear against substantially opposing points of the pipe wall to stabilize the drill assembly within the pipe. In the preferred embodiment for repairing pipe joints a hydraulic drill head bears against the pipe wall when the arms are in the open position and drills a hole for a sealant nozzle mechanism mounted on the upper arm, which swings into position in front of the drill head to inject a sealant into the pipe joint through the drill hole and seal the joint.

Device for repairing pipes

A tool and method for plugging a service connection to a gas main in preparation for removal of the service tee removes the perforator, mills the hole in the main to provide a smooth seat for a sealing plug, and inserts a gas-tight sealing plug into the hole. The tool of the invention is operable through a narrow 'keyhole' excavation, which decreases the risk to service personnel and significantly reduces costs of repairing the excavation. In the preferred embodiment the tool is loaded with a milling bit and a sealing plug before attachment to the service tee. The tool head is engaged to the service tee in a gas-tight fit to prevent the escape of gas during the procedure, and an adapter plate is pivoted between three working positions to perform the three steps of the service connection plugging method. In the preferred embodiment a pneumatic gear motor drives a hexagonal driver bit actuated by a linear actuator located in the shaft of the tool, the driving bit providing the required mechanical interface with each of the accessories involved in each step of the procedure. A separate pneumatic motor pivots the adapter plate between working positions, and specialized adapter is provided at each working position of the adapter plate allowing the same actuators to be used for the perforator removal, milling and plugging operations.

Method and tool for plugging a service connection in a gas main

A system for feeding a cable into a pipeline or other conduit comprises a rotating turret and a local cable feeding mechanism for drawing the cable off of the turret reel and loading it thereon. A remote cable feeding mechanism for inserting the cable into or withdrawing it from the pipeline is attached to a launch saddle secured to the pipeline, and its feeding rate is synchronized with that of the local cable feeding mechanism. Where the cable acts as an umbilical cable carrying fluids and electrical power to a tool inside the pipeline, the fluid and power supplies may be located on the floor of the reel, connected to an operator station by an electrical cable which winds onto and off of the turret shaft and is kept taut by a spring-biased tensioning arm. A flexible fibreglass rod extends through the cable to prevent coiling or bunching up within the pipeline while permitting the cable to traverse bends and corners.

Cable feeding system and umbilical cable therefor

A device for repairing cast iron pipe joints comprises a head having a motor for actuating a tool and a body, the head being pivotally connected to the body so that it can be pivoted from an axial position to a radial position within the pipe. In a preferred embodiment, the head includes a motor driving a drill bit. A retractable foot is extended to force the head against the pipe wall to be pierced by the drill bit, following which sealant is injected into a hollow drill shaft and flows up the helical grooves of the drill bit into the pipe joint cavity. Preferably a pair of guide wings maintains the device centered in the pipe and raised off of the pipe floor, and the operator monitors progress of the device through a video monitor.

Device for repairing pipe joints

The subject invention provides a modular, expandable and reconfigurable robotic system. In one aspect of the invention there is provided a robot having at least two manipulators each having several compact rotary joints. The rotary joints have one input coupling and either one or two output couplings. Each joint is modular including a d.c. brushless motor coupled with a harmonic cup drive and includes position, velocity and torque sensors. Each manipulator may be disassembled and reassembled to assume a multitude of configurations. In another aspect of the invention there is provided an expandable and modular real-time computer control system for controlling the robot. The computer architecture achieves between 5 to 10 MFLOPS with reduced instruction set computing (RISC) processor nodes and a fast point-to-point communication network. Each node includes a host computer and parallel input/output (I/O) modules as well. The nodes are controlled by nearly zero-overhead real-time operating system (OS) kernels responsible for task scheduling, communication and user-interface. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000 floating point operations per joint in each sampling interval.

Modular, expandable and reconfigurable robot

Bricklaying equipment includes a guideway extending along brick masonry being erected. A bricklaying machine displaces along the guideway. It has a robotic arm with an upper arm and a forearm. The upper arm pivots about a shoulder joint, and the forearm pivots relative to the upper arm at an elbow joint. A wrist joint permits a tool assembly, including a mortar-dispensing mechanism and a brick-gripping mechanism, to pivot relative to the forearm. The mortar-dispensing mechanism includes a form that receives and shapes a mortar charge, and a sliding gate mechanism that discharges the shaped charge. The arm is operated with a single motor that pivots the upper arm. Linkage constrains the tool assembly to move along a horizontal axis as the upper arm pivots and to remain in a fixed angular orientation relative to vertical. The arm is operated in response to sensors that detect vertical and horizontal distances to a mason's line. Brick and mortar carriers are also mounted to the guideway, and travel between loading areas and brick-and mortar-transferring positions relative to the bricklaying machine.

Automating bricklaying

A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping surface mount components. The article gripping elements are dependent from a vertical flexible shaft so that the elements may become inclined upon contacting with a surface mount component so that a correct engagement and gripping action takes place. A seat is provided upon the support to ensure correct orientation of the elements upon their return to the upper position.

Growing community of inventors

Oakville, Canada

Pawel Kuzan