Control of multiple inverted actuators

Abstract

Disclosed herein are systems and methods for controlling multiple reversible actuators with a single motor, or no motors, thereby reducing the size and cost of the multiple reversible actuators. The actuation mechanism can include a motor that rotates in an extension direction, a rotating shaft, a clutch, a brake, a high-pressure pressure source, and / or a valve. The actuation mechanism can deploy and extend an actuator that includes a wound reel of material. The retraction mechanism can include a motor that rotates in a retraction direction opposite the extension direction, a rotating shaft, a clutch, a low-pressure pressure source, a valve connected to the pressure source, and / or a passive retraction system. The retraction mechanism can unwind and shorten the actuator.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to U.S. Patent Application No. 18 / 158,055, filed January 23, 2023, the entire text of which is incorporated herein by reference. [Background technology]

[0002] TECHNICAL FIELD This application relates to inverted actuators, and more particularly to methods and systems for controlling multiple inverted actuators.

[0003] A linear actuator is an actuator that produces linear motion, as opposed to the circular motion of a conventional electric motor. Linear actuators are used in machine tools and industrial machinery, computer peripherals such as disk drives and printers, valves and dampers, and many other applications where linear motion is required. Linear actuators can be used stand-alone; however, if multiple linear actuators need to be employed, the size and cost of the device will increase. Summary of the Invention

[0004] This application discloses systems and methods for controlling multiple reversible actuators using a single motor or no motors to reduce the size and cost of multiple reversible actuators. The actuation mechanism can include a motor that rotates in an extension direction, a rotating shaft, a clutch, a brake, a high-pressure source, and / or a valve. The actuation mechanism can deploy and extend an actuator that includes a reel of material. The retraction mechanism can include a motor that rotates in a retraction direction opposite the extension direction, a rotating shaft, a clutch, a pressure source having low pressure, a valve associated with the pressure source, and / or a passive retraction system. The retraction mechanism can unwind and retract the actuator. [Brief explanation of the drawings]

[0005] [Figure 1A] A side view of the vacuum table conveyor is shown. [Figure 1B] A three-quarter view of a vacuum table conveyor using an actuator array is shown. [Figure 2] The operation of the inverted base actuator is shown (2A to 2C). [Figure 3] 1 illustrates a system for controlling an inverted base actuator array, according to one embodiment. [Figure 4] 10 illustrates a system for controlling an inverted base actuator array according to another embodiment. [Figure 5] 10 shows a system for controlling an inverted base actuator array according to a third embodiment. [Figure 6] 1 is a flowchart of a method for controlling multiple inverted base actuators, according to one embodiment. [Figure 7] 10 is a flowchart of a method for controlling multiple inverted base actuators according to another embodiment. [Figure 8] 1 is a schematic diagram of a machine, in the example form of a computer system, for executing a set of instructions that cause the machine to perform any one or more of the methodologies or modules discussed herein. DETAILED DESCRIPTION OF THE INVENTION

[0006] Disclosed herein are systems and methods for controlling multiple reversible actuators with a single motor or no motors, thereby reducing the size and cost of the multiple reversible actuators. The actuation mechanism can include a motor that rotates in an extension direction, a rotating shaft, a clutch, a brake, a high-pressure source, and / or a valve. The actuation mechanism can cause the actuator to unwind and extend a reel of material. The retraction mechanism can include a motor that rotates in a retraction direction opposite the extension direction, a rotating shaft, a clutch, a low-pressure source, a valve associated with the pressure source, and / or a passive retraction system. The retraction mechanism can cause the actuator to unwind and retract. Control of multiple inverted actuators

[0007] 1A shows a side view of a vacuum table conveyor. A vacuum table conveyor ("vacuum table") 120 supports a substrate 105 that moves in a predetermined direction 125. The substrate 105 can be a canvas that receives a printing material 117, such as ink. The vacuum table 120 includes a vacuum source (e.g., a centrifugal blower) 155 and a vacuum chamber 150 that applies downward pressure to the substrate 105, thereby securing and flattening the substrate 105 to the vacuum table.

[0008] FIG. 1B shows a three-quarter view of a vacuum table conveyor using an actuator array. For example, multiple or multiple actuator arrays, such as an array of inverted actuators, can include actuators 100, 110, which can be simultaneously controlled using the techniques disclosed herein. The vacuum table 120 flattens, clamps, and transports materials, such as substrate 105, preventing warping or uncontrolled movement of the material being transported by the vacuum table 120. One common application of the vacuum table 120 is inkjet digital printing, which places stringent requirements on substrate flatness and movement accuracy due to the non-contact nature of the ink application method and the required level of precision.

[0009] A perforated belt 130 is positioned on a vacuum table platen 140. The perforated belt 130 has openings 130A (only one opening is labeled for simplicity) arranged in a longitudinal row. These openings 130A connect the interior of the vacuum table chamber 150 to the substrate 105, creating adhesive forces between the substrate 105 and the perforated belt 130. These adhesive forces are created by reduced pressure within the vacuum table chamber 150, caused by airflow 160 through the perforated belt 130 and the openings 130A in the vacuum table chamber. The airflow 160 can be generated by an industrial fan.

[0010] For optimal operation, reducing the leakage area 170 of the vacuum conveyor (i.e., the area not covered by the transported substrates 105) is the most important aspect, since high leakage reduces vacuum pressure, resulting in poor substrate planarization and inefficient fan power usage. The challenge is to address the opening of the vacuum table 120 along the horizontal axis in area 170A, where the width of the substrates 105 is narrower than the width of the vacuum table 120, and along the longitudinal axis in area 170B, where there are insufficient substrates to cover the entire length of the vacuum table 120.

[0011] In this context, an array of inverted base actuators 100, 110 can be aligned with longitudinal rows of openings 180, 190 in the vacuum table 120. The inverted base actuators 100, 110 can extend outward and inward of the longitudinal rows 180, 190. The inverted base actuators 100, 110 can extend to partially or completely close the longitudinal rows of openings 180, 190, thereby opening or closing the entire length or a portion of the openings 180, 190 in a given longitudinal row. In this manner, it is possible to block flow through a portion of the vacuum table area 170A that is wider than the width of the substrate and through an area 170B that is not covered by the substrate.

[0012] One disadvantage of this array of inverted actuators aligned with the rows of openings 180, 190 in the vacuum table 120 is that the number of actuators 100, 110 required is equal to the number of rows of openings in the vacuum table. Typically, the vacuum table 120 maximizes the number of rows 180, 190 per unit width of the vacuum table 120 to maximize its effectiveness, but this negatively impacts the cost of a system with an actuator 100, 110 for each row of openings 180, 190 in the vacuum table 120. The technology disclosed herein provides a method for mechanically multiplexing the actuation of multiple inverted actuators 100, 110 to mitigate the cost and complexity impact of increasing the number of actuators.

[0013] The majority of the cost of the inverted actuators 100, 110, as described herein, is associated with the cost of the motors and motor drivers that control the extension and retraction of the material reels. For a standard actuator array, the cost is multiplied by the number of actuators. Therefore, the key to reducing the cost and complexity of the actuators 100, 110 is to reduce the number of motors required. The technology disclosed herein proposes various embodiments for achieving the controllability of an array of actuators 100, 110 while reducing the number of motors required and achieving control of the rotational motion with less expensive actuators.

[0014] In addition to being used in vacuum table 120 applications, the actuators 100, 110 can also be applied to trenchless pipe repairs. In this application, the inverted actuators apply a liner to the damaged interior of the pipe to cover any existing cracks and leaks. The inverted actuators 100, 110 can be used to create robots that can change trajectory in response to their environment. A highly valuable attribute of the actuators 100, 110 is their ability to reliably navigate tight and unknown spaces.

[0015] 2A-2C illustrate the operation of an inverted actuator. Inverted actuator 200 is a soft linear actuator whose operation is achieved by inverting (flipping) a tubular bladder 210 made of a thin, inextensible, nonporous material under the action of fluid pressure. The bladder material is typically contained on a material pulley or reel 220 within a pressurized chamber 230. The length of actuator 200 can be increased by deploying material reel 220 under fluid pressure. The extension and retraction of material reel 220 and actuator 200 can be controlled by manually or motor-controlled rotation of the material reel. Actuator 200 has many inherent advantages over other linear actuator technologies. For example, 1) it can be constructed from very inexpensive, off-the-shelf materials; 2) its flexibility allows for inherent sealing throughout the entire length of the actuator; and 3) because it does not have a rigid geometry, it can easily adapt to different environments. 4) The actuator is flexible and can be compressed to a cross-sectional area smaller than the cross-sectional area of ​​the tubular bladder, thereby reliably moving through spaces smaller than the cross-sectional area of ​​the tubular bladder 210. 5) The ratio of the actuator's fully extended length to its fully retracted length can be increased as desired.

[0016] The tubular bladder 210 may include markings 240, 250 that indicate the length of the actuator 200. The length of the actuator 200 may be measured and controlled by a processor as described herein.

[0017] FIG. 3 illustrates a system for controlling an array of counter-rotating actuators, according to one embodiment. In this first embodiment, within a single pressurized chamber 300, different material reels / pulleys 310, 315 equipped with one-way freewheel clutch mechanisms 330, 335 are mounted on a common shaft 320. The clutch mechanism allows relative rotation between the shaft and the material reel only in the direction that extends the actuator. The rotation of the shaft 320 is controlled by a single motor 350. Examples of suitable one-way freewheel clutch mechanisms include a pawl ratchet mechanism, an axial ratchet mechanism, a sprag clutch, and a cam clutch. Additionally, an active brake 340 is required for each actuator to selectively prevent rotation of the material reel 310 by coupling it to a fixed component (e.g., the pressurized chamber). In this embodiment, the material reel 315 rotates in response to the rotation of the common shaft 320, while the material reel 310 locked by the active brake 340 remains locked.

[0018] In this embodiment, the retraction motion of all actuators must be the same and cannot be controlled by active brakes. For example, if material reel 310 is extended to a length of 10 cm while material reel 315 is extended to a short length, such as 0 cm, the lengths of the two material reels 310, 315 must be equalized before the material reels are fully retracted. One way to do this is to engage the brake 340 of material reel 310 to block further extension of material reel 310, while simultaneously releasing the brake 360 ​​of material reel 315 to allow further extension of material reel 315. Once the length of material reel 315 matches the length of material reel 310, the system can release brake 360 ​​and rotate the shaft in a direction that retracts (e.g., shortens) the two material reels 310, 315.

[0019] In this embodiment, the actuator can include a material reel 310, a clutch 330, and a brake 340. The actuator's activation mechanism can include a motor 350, a shaft 320 that rotates in an extension direction, a clutch, and a brake that activates upon release. The actuator's retraction mechanism can include a motor 350, a shaft 320 that rotates in a retraction direction, and a clutch.

[0020] 4 shows a system for controlling an array of counter-rotating actuators according to another embodiment. In this second embodiment, different material reels / pulleys 410, 415 with bearings are mounted on a common shaft 430 within a single pressurized chamber 400. The rotation of this shaft 430 is controlled by a single motor 420. One active clutch 440, 445 and one active brake 450, 455 are required per actuator to allow or block the rotation of the material reels 410, 415, respectively. The active clutches 440, 445 couple the rotational movement of the material reels 410, 415, respectively, to the rotational movement of the common shaft 430. The active brakes 450, 455 prevent the rotation of the material reels 410, 415 by connecting them to a stationary component. In this embodiment, the material reels 410, 415 are either locked to the common shaft 430 by active clutches 440, 445 and move in response to rotation of the common shaft, or are fixed and locked by active brakes 450, 455. This embodiment imposes a constraint that the minimum allowable spacing between reversing actuators increases, since two additional actuators (e.g., a clutch actuator and a brake actuator) are required for each material reel 410, 415. In this embodiment, the reversing actuators can include the material reel 410, the clutch 440, and the brake 450.

[0021] Optionally, passive retraction mechanisms 460, 465, such as torsion springs, can be attached to the material reels 410, 415 to prevent the material reels from extending when both the active clutches 440, 445 and the brakes 450, 455 are disengaged from the material reels 410, 415.

[0022] In this embodiment, the actuator can include a material reel 410, a clutch 440, and a brake 450. The actuator's activation mechanism can include a motor 420, a shaft 430 that rotates in an extension direction, a clutch 440 when engaged, and a brake 450 when released. The actuator's retraction mechanism can include a motor 420, a shaft 430 that rotates in a retraction direction, and a clutch 440.

[0023] The movement of the actuators described herein can be controlled using a programmable logic controller (PLC). The PLC includes a processor capable of performing various calculations, such as measuring the extension of an inverted actuator. In the embodiment shown in Figures 3 and 4, the processor can perform actuator position measurement for closed-loop control in a variety of primary ways.

[0024] The first method is to measure the rotation of the common shaft with a rotary encoder and use the diameter of the material reel to determine the longitudinal movement of the actuator from that measurement. The main problem with this method is that as the actuator extends, there is less material on the material reel, so the diameter of the material reel changes as the actuator extends. Therefore, the processor must implement a differential method to account for the changing diameter of the material reel when estimating the material reel length.

[0025] A second method is to estimate the actuator position using a volumetric flow meter. This is accomplished by obtaining a flow meter reading (in volume units) between two positions (e.g., length) of the material reel and converting the flow meter reading to the longitudinal movement of the actuator between the two positions of the material reel. To calculate the difference in length between the two positions of the material reel, the processor can divide the volume by the cross-sectional area of ​​the pressurized material reel. If a pressurization chamber is used for multiple material reels, the volume experienced by the pressurization chamber can be distributed among the multiple material reels. To correctly calculate the length of each material reel, the processor can determine the number of material reels expanded between Position 1 and Position 2. To determine the difference in length between Position 1 and Position 2 for each material reel, the processor can divide the volume by the cross-sectional area of ​​the pressurized material reel and then by the number of material reels expanded.

[0026] A third method is to use an optical sensor to record images of the actuator at positions 1 and 2. The material reel itself can have length markings. A processor can acquire the recorded images and read the length markings from the images.

[0027] FIG. 5 shows a system for controlling an array of inverted-based actuators according to a third embodiment. In this third embodiment, different material reels / pulleys 500, 505 are attached to a common fixed shaft 510 via bearings. Unlike the previous two embodiments, each actuator requires a different pressurized chamber 520, 530, but no motor. Each chamber 520, 530 can be selectively connected to two different pressure sources 522, 524, 532, 534 (one pressure source 522, 532 is high pressure, and the other pressure source 524, 534 is low pressure) by actuation of valves 540, 545, 550, 555. Each pressure source 522, 524, 532, 534 is equipped with a volumetric flow meter 562, 564, 572, 574 for estimating the actuator position, as described herein. Each pressure source 522, 524, 532, 534 has a pressure regulator 582, 584, 592, 594. These pressure regulators allow the processor to estimate and close-loop control the actuation and retraction speeds of the actuators connected to them. The material reels 500, 505 are connected to a stationary shaft 510 or other stationary component via passive retraction systems 570, 575 (torsion spring-like structures) that enable the retraction motion.

[0028] In this embodiment, the actuator can include a material reel 500, a pressurized chamber 530, pressure sources 522, 524, and valves 540, 545. The actuator's activation mechanism can include a high pressure source 522 and a valve 540 associated with pressure source 522. The actuator's retraction mechanism can include a low pressure source 524, a valve 545 associated with pressure source 524, and a passive retraction system 570.

[0029] All of the described embodiments reduce cost and complexity compared to multiple standard actuators. For example, in the pipelining application described above, the disclosed embodiments can be used to process multiple pipes at once, rather than one pipe at a time, thereby speeding up turnaround. In robotic applications, coordinated motion between multiple actuators can be achieved. In any of the above described embodiments, multiple inverted-base actuator arrays can be combined to create a two-dimensional array of actuators. By controlling the extension of each actuator in this array, arbitrary three-dimensional surfaces can be created, which are useful in many applications. One of these applications is in the manufacturing equipment industry, where the system can be used to create reconfigurable mold systems for producing parts from foams, plastics, composites, and other materials.

[0030] 6 is a flowchart of a method for controlling a plurality of inverted base actuators according to one embodiment. In step 600, a pressurized chamber including an opening for drawing fluid is provided. In step 610, an inverted base actuator of the plurality of inverted base actuators is provided. The actuator can include a reel of material capable of expanding upon drawing fluid. The material can be flexible, such as a bladder.

[0031] In step 620, a shaft that is bidirectionally rotatable about an axis is provided. In step 630, a clutch is provided that selectively couples a material reel to the shaft. In step 640, a brake coupled to the material reel is provided. The brake, when engaged, can prevent deployment of the material reel.

[0032] In step 650, a motor connected to the shaft is provided. The motor is capable of bidirectionally rotating the shaft about an axis. The motor is capable of simultaneously extending a first of the plurality of inverted base actuators by rotating the shaft in a first direction. Operation of a clutch and an actuation of a brake can determine whether rotating the shaft in the first direction extends the inverted base actuators. For example, if the brake is engaged, rotating the shaft in the first direction does not extend the actuators.

[0033] The motor can simultaneously retract a second of the plurality of inverted base actuators by rotating the shaft in a second direction opposite the first direction. The first and second plurality of inverted base actuators can be different or the same. For example, in the first embodiment described herein, when the shaft rotates in the retraction direction, the clutch always retracts the material reel. In the second embodiment described herein, when the shaft rotates in the retraction direction, the clutch must be engaged to retract the material reel.

[0034] In a first embodiment, when the shaft rotates in a second direction, the provided clutch rotatably couples the material reel to the shaft, thereby retracting the material reel when the shaft rotates in the second direction. Also, when the shaft rotates in a first direction, the provided clutch rotatably couples the material reel to the shaft, thereby extending the material reel when the shaft rotates in the first direction and the clutch rotatably couples the material reel to the shaft. The provided brake can operate in a first mode and a second mode. The first mode can disengage the brake from the material reel, allowing the material reel to rotate with the shaft. The second mode can engage the brake to the material reel, preventing the material reel from rotating.

[0035] The system can include multiple actuators, such as a first actuator and a second actuator, driven by a single motor. However, the first and second actuators can have different lengths because the first brake of the first actuator can be engaged during shaft rotation. As a result, only the second actuator extends. Ultimately, the two actuators have different lengths. To retract the actuators to their initial positions, a hardware or software processor can execute the instructions described herein. The processor can be part of a PLC system. The processor can set the first brake to a second mode, which prevents the first material reel from rotating with the shaft. The processor can set the second brake to a first mode, which allows the second material reel to rotate with the shaft. The processor can drive the motor to rotate the shaft in a first direction, which causes the second actuator to extend. The processor can set the first brake to a first mode, which allows the material reel to rotate with the shaft. The processor can set the second brake to a second mode, which prevents the second material reel from rotating with the shaft. The processor can activate the motor to rotate the shaft in a first direction until the length of the first actuator matches the length of the second actuator. The processor can set the second brake to the first mode, which causes the second material reel to rotate with the shaft. The processor can activate the motor to rotate the shaft in a second direction, which causes the first and second material reels to retract.

[0036] In a second embodiment, the provided clutch and brake can operate in multiple modes, including a first mode and a second mode. The first mode of the clutch can rotatably couple the material reel to the shaft. The second mode of the clutch can decouple the material reel from the shaft. The first mode of the brake can disengage the brake from the material reel, allowing the material reel to rotate. The second mode of the brake can engage the brake with the material reel, preventing the material reel from rotating. Additionally, the processor can configure the brake to operate in the second mode to prevent the material reel from rotating when fluid is drawn into the pressurized chamber, preventing the actuator with the brake engaged from extending while allowing the other actuators to extend.

[0037] The processor can measure the length of one or more inverted base actuators. In one embodiment, to measure the length of the actuators, the processor can use a rotary encoder that can measure shaft rotations. The processor can obtain an indication of the shaft rotations from the rotary encoder and obtain a diameter associated with the material reel. The processor can determine the length of the inverted base actuators based on the indication of the shaft rotations and the diameter associated with the material reel.

[0038] In another embodiment, to measure the length of the actuator, the processor can use a volumetric flow meter capable of measuring a volume of fluid associated with the pressurized chamber. The processor can obtain an indication of the volume of fluid associated with the pressurized chamber and obtain a cross-sectional area associated with the material reel. The processor can determine the length of the inverted base actuator based on the indication of the cross-sectional area associated with the material reel and the volume of fluid associated with the pressurized chamber. Additionally, the processor can also consider the number of actuators that are actually actuated. Thus, to obtain the length of each actuator, the processor can divide the resulting length by the number of actuated actuators.

[0039] In a third embodiment, to measure the length of the actuator, the processor can use an optical sensor that can record an image associated with the inverted actuator. The processor can determine the length of the inverted actuator based on the recorded image. For example, the actuator can have length markings that can be recorded on the image. To determine the length of the actuator, the processor can analyze the image to extract the length markings.

[0040] 7 is a flowchart of a method for controlling a plurality of inverted actuators, according to another embodiment. In step 700, a pressurized chamber including an opening for drawing fluid is provided. In step 710, an inverted actuator of the plurality of inverted actuators is provided. The inverted actuator can include a reel of material capable of expanding upon drawing fluid. The material can be flexible, such as a bladder.

[0041] In step 720, a first valve is provided that is coupled to the pressurized chamber and connects the pressurized chamber to a first pressure source through an opening. When actuated, the first valve allows for the intake of fluid into the pressurized chamber.

[0042] In step 730, a second valve is provided that is coupled to the pressurized chamber and connects the pressurized chamber to a second pressure source through an opening. The pressure of the fluid in the first pressure source can exceed the pressure of the fluid in the second pressure source. When actuated, the second valve allows fluid to flow out of the pressurized chamber.

[0043] At step 740, a passive retraction system is provided that exerts a retraction force on the material reel. The passive retraction system can shorten the material reel when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber. The passive retraction system can include a torsion spring or an angle spring.

[0044] A first pressure regulator associated with the first pressure source is provided, the first pressure regulator capable of estimating extension and retraction rates associated with a material reel coupled to the first pressure regulator.

[0045] A volumetric flow meter for measuring a volume of fluid associated with a pressurized chamber is provided. A hardware or software processor executing instructions herein can obtain an indication of the volume of fluid associated with the pressurized chamber and an indication of a cross-sectional area associated with a material reel. The processor can determine a length of an inverted base actuator based on the indication of the cross-sectional area associated with the material reel and the volume of fluid associated with the pressurized chamber. Additionally, the processor calculates the number of actuated actuators and divides the length of the inverted actuators by the number of actuated actuators.

[0046] A second pressurized chamber including a second opening for drawing in a second fluid is provided. A second inverted actuator of the plurality of inverted actuators is provided. The second inverted actuator can include a second reel of material that can expand upon drawing in a second fluid. A third valve is provided coupled to the second pressurized chamber and connecting the second pressurized chamber to a third pressure source through the second opening. When activated, the first valve can allow the drawing of fluid into the pressurized chamber. A fourth valve is provided coupled to the second pressurized chamber and connecting the second pressurized chamber to a fourth pressure source through the second opening. The pressure of the second fluid in the third pressure source can exceed the pressure of the second fluid in the fourth pressure source. When activated, the fourth valve allows the second fluid to flow out of the second pressurized chamber. A second passive retraction system is provided that exerts a second retraction force on the second reel of material. The second passive retraction system can retract the second reel of material when the second retraction force exceeds the second expansion force exerted by the second fluid in the second pressurized chamber. The processor can independently control the extension and retraction of the material reel and the extension and retraction of the second material reel. computer

[0047] FIG. 8 is a schematic diagram of a machine in the exemplary form of a computer system 800 capable of executing a set of instructions to cause the machine to perform any one or more of the methodologies or modules discussed herein.

[0048] In the example of FIG. 8, computer system 800 includes a processor, memory, non-volatile memory, and interface devices. For simplicity of illustration, various common components (e.g., cache memory) have been omitted. Computer system 800 is intended to represent a hardware device capable of implementing any of the components described in the examples of FIGS. 1-7 (as well as other components described herein). Computer system 800 may be of any known or convenient type. The components of computer system 800 may be coupled to one another via a bus or other known or convenient device.

[0049] This disclosure contemplates that computer system 800 may take any suitable physical form. By way of example, and not limitation, computer system 800 may be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC) (e.g., a computer-on-module (COM) or system-on-module (SOM)), a desktop computer system, a laptop or notebook computer system, an interactive kiosk, a mainframe, a mesh of computer systems, a mobile phone, a personal digital assistant (PDA), a server, or a combination of two or more of these. Where appropriate, computer system 800 may include one or more computer systems 800 and may be single or distributed, spanning multiple locations, spanning multiple machines, or residing in a cloud, which may include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 800 may perform one or more steps of one or more methods described or illustrated herein, substantially without spatial or temporal limitations. By way of example, and not limitation, one or more computer systems 800 may cause one or more steps of one or more methods described or illustrated herein to be performed in real time or in batch mode. Where appropriate, one or more computer systems 800 may cause one or more steps of one or more methods described or illustrated herein to be performed at different times or in different locations.

[0050] The processor may be, for example, a conventional microprocessor such as an Intel Pentium microprocessor or a Motorola Power PC microprocessor. Those skilled in the art will appreciate that the terms "machine-readable (storage) medium" or "computer-readable (storage) medium" include any type of device that can be accessed by a processor.

[0051] The memory is coupled to the processor, for example, by a bus. The memory may include, but is not limited to, random access memory (RAM), such as dynamic RAM (DRAM) and static RAM (SRAM). The memory may be local, remote, or distributed.

[0052] The bus also couples the processor to nonvolatile memory and drive units. Nonvolatile memory is often a magnetic floppy or hard disk, a magnetic-optical disk, an optical disk, a CD-ROM, a read-only memory (ROM) such as an EPROM or EEPROM, a magnetic or optical card, or other form of storage for large amounts of data. Some of this data is often written to memory by a direct memory access process during execution of software by the computer 800. Nonvolatile storage can be local, remote, or distributed. Nonvolatile memory is optional, as the system can be constructed so that all applicable data is available in memory. A typical computer system will usually include at least a processor, memory, and a device (e.g., a bus) coupling the memory and the processor.

[0053] Software is typically stored in non-volatile memory and / or drive units. In practice, it may not be possible to store a large program in its entirety in memory. However, it should be understood that software is moved, as needed, to a computer-readable location suitable for processing (for purposes of explanation, this document will refer to that location as memory) for execution. Even when software is moved to memory for execution, the processor typically uses hardware registers to store values ​​associated with the software, and ideally a local cache to speed execution. In this specification, when a software program is described as being "embodied in a computer-readable medium," it is assumed that the software program is stored in any known or convenient location, from non-volatile storage to hardware registers. A processor is considered to be "configured to execute a program" if at least one value associated with the program is stored in a register readable by the processor.

[0054] The bus also couples the processor to a network interface device. The interface may include one or more of a modem or network interface. It will be understood that the modem or network interface may be considered part of the computer system 800. The interface may include an analog modem, an Integrated Services Digital Network (ISDN) modem, a cable modem, a token ring interface, a satellite transmission interface (e.g., "Direct PC"), or other interface for coupling the computer system to other computer systems. The interface may include one or more input and / or output (I / O) devices. Examples of I / O devices include, but are not limited to, a keyboard, a mouse or other pointing device, a disk drive, a printer, a scanner, and other input and / or output devices, including display devices. Examples of display devices include, but are not limited to, a cathode ray tube (CRT), a liquid crystal display (LCD), or other known display devices. For simplicity of explanation, controllers for devices not shown in the example of FIG. 8 are assumed to be located within the interface.

[0055] In operation, computer system 800 may be controlled by operating system software, including a file management system, such as a disk operating system. One example of operating system software with associated file management system software is the operating system family known as Windows from Microsoft Corporation of Redmond, Washington, and its associated file management system. Another example of operating system software with associated file management system software is the Linux operating system and its associated file management system. The file management system is typically stored in non-volatile memory and / or a drive unit and causes the processor to perform various operations required by the operating system for inputting and outputting data and storing data in memory, including storing files in non-volatile memory and / or a drive unit.

[0056] Some portions of the detailed descriptions may be presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, understood to be a self-consistent sequence of operations leading to a desired result. These operations are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like.

[0057] It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. As will be apparent from the description that follows, unless otherwise specified, throughout the description, descriptions using terms such as "processing," "computing," "calculating," "determining," "displaying," and "generating" will be understood to refer to operations and processes of a computer system or similar electronic computing device that manipulate and transform data represented as physical (electronic) quantities in the computer system's registers and memory into other data also represented as physical quantities in the computer system's memory or registers, or other information storage, transmission, or display device.

[0058] The algorithms and displays presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the methods of some embodiments. The required structure for a variety of these systems will appear from the description below. Further, these techniques are not described with reference to any particular programming language, and therefore various embodiments may be implemented using a variety of programming languages.

[0059] In alternative embodiments, the machine may operate as a stand-alone device or may be connected (e.g., networked) to other machines. In a networked deployment, the machine may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment.

[0060] The machine may be a server computer, a client computer, a personal computer (PC), a tablet PC, a laptop computer, a set-top box (STB), a PDA, a mobile phone, an iPhone, a BlackBerry, a processor, a telephone, a web appliance, a network router, a switch, a bridge, or any machine capable of executing a set of instructions (sequential or other) that specify operations to be performed by the machine.

[0061] Although in the exemplary embodiments, the machine-readable medium or machine-readable storage medium is shown as a single medium, the terms "machine-readable medium" and "machine-readable storage medium" should be interpreted to include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) that store one or more sets of instructions. The terms "machine-readable medium" and "machine-readable storage medium" are intended to include any medium that can store, encode, or carry a set of instructions for execution by a machine and that cause a machine to perform one or more methodologies or modules of the techniques and innovations of this disclosure.

[0062] Generally, the routines executed to implement embodiments of the present disclosure may be implemented as part of an operating system or as part of a specific application, component, program, object, module, or sequence of instructions referred to as a “computer program.” A computer program typically includes one or more instructions that are stored at various times in various memory and storage devices within a computer and that, when read and executed by one or more processing units or processors within a computer, cause the computer to perform operations to implement elements including various aspects of the present disclosure.

[0063] Furthermore, while the embodiments are described in the context of fully functional computers and computer systems, those skilled in the art will understand that various embodiments may be distributed as program products in a variety of forms, and that the present disclosure applies equally regardless of the particular type of machine or computer-readable medium used to actually accomplish the distribution.

[0064] Further examples of machine-readable storage media, machine-readable media, or computer-readable (storage) media include, but are not limited to, volatile and non-volatile memory devices, recordable-type media such as floppy disks and other removable disks, hard disk drives, and optical disks (e.g., compact disk read-only memory (CD-ROM), digital versatile disk (DVD), etc.), and transmission-type media such as digital and analog communications links.

[0065] In some circumstances, the operation of a memory device, e.g., a change of state from a binary 1 to a binary 0, or vice versa, may involve a transformation such as a physical transformation. In certain types of memory devices, such a physical transformation may involve the physical transformation of an article to a different state or object. For example, but not by way of limitation, in some types of memory devices, a state change may involve the accumulation and storage of an electric charge or the release of a stored electric charge. Similarly, in other memory devices, a state change may involve a physical change or transformation of a magnetic orientation or a physical change or transformation of a molecular structure, such as from crystalline to amorphous, or vice versa. The above is not intended to be an exhaustive list of the physical transformations that a change of state from a binary 1 to a binary 0, or vice versa, in a memory device may involve. Rather, the above is intended as an illustrative example.

[0066] Storage media are typically non-transitory, or may include non-transitory devices. In this context, non-transitory storage media may include tangible devices. This means that the device has a concrete physical form, but its physical state may change. Thus, for example, non-transitory means that the device remains tangible despite changes in state. remarks

[0067] The terminology used herein has been selected primarily for ease of reading and description, and not to delineate or limit the subject matter of the present invention. Accordingly, it is intended that the scope of the present invention be limited not by this detailed description, but by the claims issued on an application based thereon. Accordingly, the disclosure of various embodiments is intended to illustrate, but not to limit, the scope of the embodiments set forth in the following claims.

Claims

1. 1. An apparatus for controlling a plurality of inverted base actuators, comprising: a pressurized chamber including an opening for drawing in a fluid; a reversible actuator of the plurality of reversible actuators including a reel of material expandable by the intake of the fluid; A shaft that can rotate in both directions around an axis, a clutch selectively connecting the material reel to the shaft; the clutch allows the shaft to rotate freely relative to the reel when rotation of the reel is blocked; the clutch permits rotational coupling of the material reel to the shaft when the shaft rotates in a first direction and the reel rotates freely, whereby the material reel expands when the shaft rotates in the first direction and the clutch rotationally couples the material reel to the shaft; and the clutch permits rotational coupling of the material reel with the shaft when the shaft rotates in a second direction and the reel rotates freely, whereby the material reel retracts when the shaft rotates in the second direction; shaft; a brake coupled to the material reel that, when engaged, prevents deployment of the material reel, The operation of the brake includes a first mode and a second mode; the first mode releases the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; brake; a motor connected to the shaft for bidirectionally rotating the shaft about the axis, operating the motor to rotate the shaft in the first direction simultaneously expands a first plurality of inverted base actuators of the plurality of inverted base actuators; Operation of the clutch and the brake determines whether rotating the shaft in the first direction causes the inverted base actuator to expand; and and operating the motor to rotate the shaft in the second direction opposite the first direction simultaneously contracts a second of the plurality of inverted base actuators. motor, An apparatus comprising:

2. a first clutch selectively coupling a first reversible base actuator of the plurality of reversible base actuators to the shaft, The first clutch is a first reel of material rotatably coupled to the shaft when the shaft rotates in the second direction, whereby the first reel of material retracts when the shaft rotates in the second direction; and rotationally coupling the first material reel to the shaft when the shaft rotates in the first direction, whereby the material reel extends when the shaft rotates in the first direction and the first clutch rotationally couples the first material reel to the shaft; First clutch; a first brake coupled to the first material reel associated with the first inverted base actuator, the operation of the first brake includes a first mode and a second mode; the first mode disengages the first brake from the material reel to allow the material reel to rotate; and the second mode engages the first brake with the material reel to prevent the material reel from rotating; First brake; a second clutch selectively coupling a second reversible base actuator of the plurality of reversible base actuators to the shaft, The second clutch is a second reel of material rotatably coupled to the shaft when the shaft rotates in the second direction, whereby the second reel of material retracts when the shaft rotates in the second direction; and a second clutch rotatably connecting the second reel of material to the shaft when the shaft rotates in the first direction, whereby the second reel of material extends when the shaft rotates in the first direction and the second clutch rotatably connecting the second reel of material to the shaft; Second clutch; a second brake coupled to the second material reel associated with the second inverted base actuator, the operation of the second brake includes a first mode and a second mode; the first mode disengaging the second brake from the material reel to allow the material reel to rotate; and the second mode engages the second brake with the material reel to prevent the material reel from rotating; a second brake; and 1. A processor, comprising: setting the first brake in the second mode, thereby preventing the first material reel from rotating with the shaft; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; actuating the motor to rotate the shaft in the first direction, thereby expanding the second inverted base actuator; setting the first brake in the first mode, thereby allowing the material reel to rotate with the shaft; setting the second brake in the second mode, thereby preventing the second material reel from rotating with the shaft; activating the motor to rotate the shaft in the first direction until a length of the first inverted base actuator matches a length of a second inverted base actuator; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; and activating the motor to rotate the shaft in the second direction, thereby retracting the first and second reels of material; processor, The apparatus of claim 1 , comprising:

3. a first clutch selectively coupling a first reversible base actuator of the plurality of reversible base actuators to the shaft, The first clutch is rotatably coupling the first material reel to the shaft when the shaft rotates in the second direction, whereby the material reel retracts when the shaft rotates in the second direction; and a first clutch that rotatably couples the first material reel to the shaft when the shaft rotates in the first direction, whereby the material reel extends when the shaft rotates in the first direction and the first clutch rotatably couples the first material reel to the shaft; First clutch; a first brake coupled to the first material reel associated with the first inverted base actuator, the operation of the first brake includes a first mode and a second mode; the first mode disengages the first brake from the material reel to allow the material reel to rotate; and the second mode engages the first brake with the material reel to prevent the material reel from rotating; First brake; a second clutch selectively coupling a second reversible base actuator of the plurality of reversible base actuators to the shaft, The second clutch is rotatably coupling the second reel of material to the shaft when the shaft rotates in the second direction, whereby the second reel of material retracts when the shaft rotates in the second direction; and a second clutch rotatably connecting the second reel of material to the shaft when the shaft rotates in the first direction, whereby the second reel of material extends when the shaft rotates in the first direction and the second clutch rotatably connecting the second reel of material to the shaft; a second clutch; and a second brake coupled to the second material reel associated with the second inverted base actuator, the operation of the second brake includes a first mode and a second mode; the first mode disengages the second brake from the material reel to allow the material reel to rotate; and the second mode engages the second brake with the material reel to prevent the material reel from rotating; Second brake, The apparatus of claim 1 , comprising:

4. a rotary encoder for measuring rotation of the shaft; and obtaining an indication of rotation of the shaft from the rotational encoder; Obtaining a diameter associated with the material reel; and determining a length of the inverted base actuator based on the indication of rotation of the shaft and the diameter associated with the material reel; processor, The apparatus of claim 1 , comprising:

5. a pressurized chamber including an opening for drawing in a fluid; an inverted base actuator among a plurality of inverted base actuators including a reel of material expandable upon intake of said fluid; a shaft that is bidirectionally rotatable about an axis; a clutch for selectively connecting the material reel to the shaft; a brake coupled to the material reel that, when engaged, prevents deployment of the material reel; and a motor connected to the shaft for bidirectionally rotating the shaft about the axis, operating the motor to rotate the shaft in a first direction simultaneously expands a first plurality of inverted base actuators of the plurality of inverted base actuators; Operation of the clutch and the brake determines whether the inverted base actuator extends by rotating the shaft in the first direction; and and operating the motor to rotate the shaft in a second direction opposite the first direction simultaneously contracts a second of the plurality of inverted base actuators. motor, An apparatus comprising:

6. a first clutch selectively coupling a first reversible base actuator of the plurality of reversible base actuators to the shaft, the first clutch allows free rotation of the shaft relative to the first material reel when rotation of the first reel is blocked; the first clutch permits rotational coupling of the first material reel to the shaft when the shaft rotates in a first direction and the first reel rotates freely, whereby the first material reel expands when the shaft rotates in the first direction and the first clutch rotationally couples the first material reel to the shaft; and the first clutch permits rotational coupling of the first material reel with the shaft when the shaft rotates in a second direction and the first reel rotates freely, whereby the first material reel retracts when the shaft rotates in the second direction; First clutch; a first brake coupled to the first material reel associated with the first inverted base actuator, the operation of the first brake includes a first mode and a second mode; the first mode disengages the first brake from the material reel to allow the material reel to rotate; and the second mode engages the first brake with the material reel to prevent the material reel from rotating; First clutch; a second clutch selectively coupling a second reversible base actuator of the plurality of reversible base actuators to the shaft, the second clutch allows free rotation of the shaft relative to the second material reel when rotation of the second reel is blocked; the second clutch permits rotational coupling of the second material reel with the shaft when the shaft rotates in a second direction and the second reel rotates freely, whereby the second material reel expands when the shaft rotates in a second direction and the second clutch rotationally couples the second reel to the shaft; and the second clutch permits rotational coupling of the second reel with the shaft when the shaft rotates in a second direction and the second reel rotates freely, whereby the second reel of material retracts when the shaft rotates in the second direction; Second clutch; a second brake coupled to the second material reel associated with the second inverted base actuator, the operation of the second brake includes a first mode and a second mode; the first mode disengaging the second brake from the material reel to allow the material reel to rotate; and the second mode engages the second brake with the material reel to prevent the material reel from rotating; a second brake; and 1. A processor, comprising: setting the first brake in the second mode, thereby preventing the first material reel from rotating with the shaft; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; actuating the motor to rotate the shaft in the first direction, thereby expanding the second, inverted base actuator; setting the first brake in the first mode, thereby allowing the material reel to rotate with the shaft; setting the second brake in the second mode, thereby preventing the second material reel from rotating with the shaft; activating the motor to rotate the shaft in the first direction until a length of the first inverted base actuator matches a length of a second inverted base actuator; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; and activating the motor to rotate the shaft in the second direction, thereby retracting the first and second reels of material; processor, The apparatus of claim 5 , comprising:

7. the clutch allows the shaft to rotate freely relative to the reel when rotation of the reel is blocked; the clutch permits rotational coupling between the material reel and the shaft when the shaft rotates in a first direction and the reel rotates freely, whereby the material reel extends when the shaft rotates in the first direction and the clutch rotationally couples the material reel to the shaft; and the clutch permits rotational coupling between the material reel and the shaft when the shaft rotates in the second direction and the reel rotates freely, whereby the material reel retracts when the shaft rotates in the second direction; and The operation of the brake includes a first mode and a second mode; the first mode disengages the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; 6. The apparatus of claim 5.

8. the clutch includes a first mode and a second mode; the first mode rotationally couples the material reel to the shaft; and the second mode decouples the material reel from the shaft; and the operation of the brake includes a first mode and a second mode; the first mode releases the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; 6. The apparatus of claim 5.

9. the clutch includes a first mode and a second mode; the first mode rotationally couples the material reel to the shaft; and the second mode decouples the material reel from the shaft; the operation of the brake includes a first mode and a second mode; the first mode disengages the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; and The processor: setting the brake to operate in the second mode, thereby preventing the material reel from rotating upon intake of the fluid; and allowing the fluid to be drawn into the pressurized chamber; 6. The apparatus of claim 5.

10. a rotary encoder for measuring rotation of the shaft; and obtaining an indication of the rotation of the shaft from the rotational encoder; Obtaining a diameter associated with the material reel; and determining a length of the inverted base actuator based on the indication of the rotation of the shaft and the diameter associated with the material reel; processor, The apparatus of claim 5 , comprising:

11. a volumetric flow meter for measuring a volume of fluid associated with the pressurized chamber; and obtaining an indication of the volume of the fluid associated with the pressurized chamber; Obtaining a cross-sectional area associated with the material reel; and determining a length of the inverted base actuator based on the indication of the cross-sectional area associated with the material reel and the volume of fluid associated with the pressurized chamber; processor, The apparatus of claim 5 , comprising:

12. an optical sensor for recording an image associated with the inverted base actuator; and a processor that determines a length of the inverted base actuator based on the recorded images; The apparatus of claim 5 , comprising:

13. providing a pressurized chamber including an opening for drawing in a fluid; providing an inverted actuator of a plurality of inverted actuators including a reel of material expandable by the intake of fluid; providing a shaft that is bidirectionally rotatable about an axis; providing a clutch to selectively couple the material reel to the shaft; providing a brake coupled to the material reel, the brake preventing deployment of the material reel when engaged; and providing a motor connected to the shaft to rotate the shaft bidirectionally about the axis; operating the motor to rotate the shaft in a first direction simultaneously expands a first plurality of inverted base actuators of the plurality of inverted base actuators; Operation of the clutch and the brake determines whether rotating the shaft in the first direction causes an inverted base actuator to extend; and operating the motor to rotate the shaft in a second direction opposite the first direction simultaneously contracts a second of the plurality of inverted base actuators. Step, A method for providing the above.

14. providing a first clutch selectively coupling a first inverted base actuator of the plurality of inverted base actuators to the shaft; the first clutch allows free rotation of the shaft relative to the first reel when rotation of the first reel is blocked; the first clutch allows rotational coupling between the first material reel and the shaft when the shaft rotates in a first direction and the first reel rotates freely, whereby the first material reel expands when the shaft rotates in the first direction and the first clutch rotationally couples the first material reel to the shaft; and the first clutch allows a rotational connection between the first material reel and the shaft when the shaft rotates in a second direction and the first reel rotates freely, whereby the first material reel retracts when the shaft rotates in the second direction; Steps: providing a first brake coupled to the first material reel associated with a first inverted base actuator, the operation of the first brake includes a first mode and a second mode; the first mode disengages the first brake from the material reel to allow the material reel to rotate; the second mode engages the first brake with the material reel to prevent the material reel from rotating; Steps: providing a second clutch selectively coupling a second inverted base actuator of the plurality of inverted base actuators to the shaft; the second clutch permits free rotation of the shaft relative to the second material reel when the rotation of the second reel is blocked; the second clutch permits rotational coupling of the second material reel to the shaft when the shaft rotates in a first direction and the second reel rotates freely, whereby the second material reel extends when the shaft rotates in a first direction and the second clutch rotationally couples the second material reel to the shaft; and the second clutch permits rotational coupling of the second reel with the shaft when the shaft rotates in a second direction and the second reel rotates freely, whereby the second reel of material retracts when the shaft rotates in the second direction; Steps: a second brake coupled to the second material reel associated with the second inverted base actuator, the operation of the second brake includes a first mode and a second mode; the first mode disengages the second brake from the material reel to allow the material reel to rotate; and the second mode engages the second brake with the material reel to prevent the material reel from rotating; a second brake; and setting the first brake in the second mode, thereby preventing the first material reel from rotating with the shaft; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; actuating the motor to rotate the shaft in the first direction, thereby expanding the second, inverted base actuator; setting the first brake in the first mode, thereby allowing the material reel to rotate with the shaft; setting the second brake in the second mode, thereby preventing the second material reel from rotating with the shaft; activating the motor to rotate the shaft in the first direction until a length of the first inverted base actuator matches a length of a second inverted base actuator; setting the second brake in the first mode, thereby allowing the second material reel to rotate with the shaft; and activating the motor to rotate the shaft in the second direction, thereby retracting the first and second reels of material; providing instructions; The method of claim 13 comprising:

15. a clutch selectively coupling the material reel to the shaft; the clutch permits free rotation of the shaft relative to the reel when rotation of the reel is blocked; the clutch permits rotational coupling of the material reel to the shaft when the shaft rotates in a first direction and the material reel rotates freely, whereby the material reel extends when the shaft rotates in a first direction and the clutch rotationally couples the material reel to the shaft; and the clutch permits rotational coupling of the material reel with the shaft when the shaft rotates in the second direction and the reel rotates freely, whereby the material reel retracts when the shaft rotates in the second direction; steps; and Providing the operation of the brake including a first mode and a second mode, the first mode disengages the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; Step, The method of claim 13 comprising:

16. providing the clutch with a first mode and a second mode, the first mode rotationally couples the material reel to the shaft; and the second mode decouples the material reel from the shaft; steps; and Providing operation of the brake including a first mode and a second mode, the first mode disengages the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; Step, The method of claim 13 comprising:

17. providing the clutch with a first mode and a second mode, the first mode rotationally couples the material reel to the shaft; and the second mode decouples the material reel from the shaft; Steps: Providing the operation of the brake including a first mode and a second mode, the first mode disengages the brake from the material reel to allow the material reel to rotate; and the second mode engages the brake with the material reel to prevent the material reel from rotating; steps; and setting the brake to operate in the second mode, thereby preventing the material reel from rotating when the fluid is being aspirated; and allowing the fluid to be drawn into the pressurized chamber; providing instructions; The method of claim 13 comprising:

18. providing a rotary encoder for measuring rotation of the shaft; and obtaining an indication of rotation of the shaft from the rotational encoder; Obtaining the diameter associated with the material reel; and determining a length of the reversing actuator based on the indication of the rotation of the shaft and the diameter associated with the material reel; providing instructions; The method of claim 13 comprising:

19. providing a volumetric flow meter for measuring a volume of fluid associated with the pressurized chamber; and obtaining an indication of the volume of fluid associated with the pressurized chamber; Obtaining a cross-sectional area associated with the material reel; and determining a length of the inverted actuator based on the cross-sectional area associated with the material reel and the indication of the volume of fluid associated with the pressurized chamber; providing instructions, steps, The method of claim 13 comprising:

20. providing an optical sensor that records an image associated with the inverted actuator; and providing a processor for determining a length of the inverted actuator based on the recorded images; The method of claim 13 comprising:

Images